[1]罗元,余佳航,汪龙峰,等.改进RBPF的移动机器人同步定位与地图构建[J].智能系统学报,2015,10(3):460-464.[doi:10.3969/j.issn.1673-4785.201404024]
 LUO Yuan,YU Jiahang,WANG Longfeng,et al.Simultaneous localization and mapping of an improved RBPF based mobile robot[J].CAAI Transactions on Intelligent Systems,2015,10(3):460-464.[doi:10.3969/j.issn.1673-4785.201404024]
点击复制

改进RBPF的移动机器人同步定位与地图构建

参考文献/References:
[1] SMITH R, SELF M, CHEESEMAN P. Estimating uncertain spatial relationships in robotics[M]//COX I J, WILFONG G T. Autonomous Robot Vehicles. New York: Springer, 1990: 167-193.
[2] DISSANAYAKE G, HUANG S, WANG Z, et al. A review of recent developments in simultaneous localization and mapping[C]//6th International Conference on Industrial and Information Systems (ICIIS). Kandy, Sri Lanka, 2011: 477-482.
[3] SMITH R C, CHEESEMAN P. On the representation and estimation of spatial uncertainty[J]. The International Journal of Robotics Research, 1986, 5(4): 56-68.
[4] 张文玲, 朱明清, 陈宗海. 基于强跟踪UKF的自适应 SLAM 算法[J]. 机器人, 2010, 32(2): 190-195. ZHANG Wenling, ZHU Mingqing, CHEN Zonghai. An adaptive SLAM algorithm based on strong tracking UKF[J]. Robot, 2010, 32(2): 190-195.
[5] DOUCET A, De FREITAS N, MURPHY K, et al. Rao-Blackwellised particle filtering for dynamic Bayesian networks[C]//Proceedings of the Sixteenth Conference on Uncertainty in Artificial Intelligence. San Francisco, USA, 2000: 176-183.
[6] QU Liping, WANG Hongjian. An overview of robot SLAM problem[C]//International Conference on Consumer Electronics, Communications and Networks (CECNet). Xianning, China, 2011: 1953-1956.
[7] GRISETTI G, STACHNISS C, BURGARD W. Improved techniques for grid mapping with Rao-Blackwellized particle filters[J]. Robotics, 2007, 23(1): 34-46.
[8] 张建伟, 张立新, 胡颖, 等. 开源机器人操作系统—ROS[M]. 北京: 科学出版社, 2012: 1-6.
[9] GERKEY B. Gmapping.[EB/OL]. [2010-08-05]. http://wiki.ros.org/slam_gmapping.
[10] GRISETTI G, STACHNISS C, BURGARD W. Improving grid-based slam with Rao-Blackwellized particle filters by adaptive proposals and selective resampling[C]//Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona, Spain, 2005: 2432-2437.
[11] DOUCET A, De FREITAS N, GORDON N. An introduction to sequential Monte Carlo methods[M]//DOUCET A, DE FREITAS N, GORDON N. Sequential Monte Carlo Methods in Practice. New York: Springer, 2001: 3-14.
[12] De FREITAS N. Rao-Blackwellised particle filtering for fault diagnosis[C]//2002 IEEE Aerospace Conference Proceedings. Big Sky, USA, 2002, 4: 1767-1772.
相似文献/References:
[1]蔡自兴,王 勇,王 璐.基于角点聚类的移动机器人自然路标检测与识别[J].智能系统学报,2006,1(1):52.
 CAI Zi-xing,WANG Yong,WANG Lu.Corner clustering based detection and recognition of natural landmark for mobile robot[J].CAAI Transactions on Intelligent Systems,2006,1(3):52.
[2]杨甜甜,刘志远,陈 虹,等.移动机器人编队控制的现状与问题[J].智能系统学报,2007,2(4):21.
 YANG Tian-tian,LIU Zhi-yuan,CHEN Hong,et al.Formation control of mobile robots: state and open prob lems[J].CAAI Transactions on Intelligent Systems,2007,2(3):21.
[3]李润伟,蔡自兴,童宇,等.基于ATM的提高狭窄环境探测精度的改进方法[J].智能系统学报,2008,3(4):283.
 LI Run-wei,CAI Zi-xing,TONG Yu.Improving the accuracy of exploring the narrow environment by using ATM[J].CAAI Transactions on Intelligent Systems,2008,3(3):283.
[4]霍成立,谢 凡,秦世引.面向室内移动机器人的无迹滤波实时导航方法[J].智能系统学报,2009,4(4):295.
 HUO Cheng-li,XIE Fan,QIN Shi-yin.A case study in realtime UKFbased navigation for indoor autonomous travel of mobile robots[J].CAAI Transactions on Intelligent Systems,2009,4(3):295.
[5]海 丹,李 勇,张 辉,等.无线传感器网络环境下基于粒子滤波的移动机器人SLAM算法[J].智能系统学报,2010,5(5):425.[doi:10.3969/j.issn.1673-4785.2010.05.008]
 HAI Dan,LI Yong,ZHANG Hui,et al.Simultaneous localization and mapping of a mobile robot in wireless sensor networks based on particle filtering[J].CAAI Transactions on Intelligent Systems,2010,5(3):425.[doi:10.3969/j.issn.1673-4785.2010.05.008]
[6]房立金,王洪光.架空线移动机器人行走越障特点[J].智能系统学报,2010,5(6):492.
 FANG Li-jin,WANG Hong-guang.Research on the characteristics of the movement and obstacleclearing processes of a wiresuspended mobile robot[J].CAAI Transactions on Intelligent Systems,2010,5(3):492.
[7]任立敏,王伟东,杜志江.移动机器人队形控制关键技术及其进展[J].智能系统学报,2013,8(5):381.[doi:10.3969/j.issn.1673-4785.201302011]
 REN Limin,WANG Weidong,DU Zhijiang.Key technologies and development of formation control of mobile robots[J].CAAI Transactions on Intelligent Systems,2013,8(3):381.[doi:10.3969/j.issn.1673-4785.201302011]
[8]贺超,刘华平,孙富春,等.采用Kinect的移动机器人目标跟踪与避障[J].智能系统学报,2013,8(5):426.[doi:10.3969/j.issn.1673-4785.201301028]
 HE Chao,LIU Huaping,SUN Fuchun,et al.Target tracking and obstacle avoidance of mobile robot using Kinect[J].CAAI Transactions on Intelligent Systems,2013,8(3):426.[doi:10.3969/j.issn.1673-4785.201301028]
[9]阮晓钢,庞涛,张晓平,等.一种基于情感智能的机器人自主趋光行为研究[J].智能系统学报,2015,10(1):97.[doi:10.3969/j.issn.1673-4785.201312035]
 RUAN Xiaogang,PANG Tao,ZHANG Xiaoping,et al.Research on the autonomous phototaxis behavior of a robot based on emotion intelligence[J].CAAI Transactions on Intelligent Systems,2015,10(3):97.[doi:10.3969/j.issn.1673-4785.201312035]
[10]沈博闻,于宁波,刘景泰.仓储物流机器人集群的智能调度和路径规划[J].智能系统学报,2014,9(6):659.[doi:10.3969/j.issn.1673-4785.201312048]
 SHEN Bowen,YU Ningbo,LIU Jingtai.Intelligent scheduling and path planning of warehouse mobile robots[J].CAAI Transactions on Intelligent Systems,2014,9(3):659.[doi:10.3969/j.issn.1673-4785.201312048]

备注/Memo

收稿日期:2014-4-15;改回日期:。
基金项目:国家自然科学基金资助项目(51075420);重庆市教委科学技术研究项目(KJ120519).
作者简介:罗元,女,1972年生,教授,博士,主要研究方向为机器视觉、数字图像处理.获得国家发明专利6项,重庆市科技进步奖1项.发表学术论文50余篇,被SCI、EI检索20余篇.余佳航,男,1990年生,硕士研究生,主要研究方向为移动机器人导航.汪龙峰,男,1989年生,硕士研究生,主要研究方向为移动机器人导航.
通讯作者:余佳航. E-mail: tracy_the_1@126.com.

更新日期/Last Update: 2015-07-15
Copyright @ 《 智能系统学报》 编辑部
地址:(150001)黑龙江省哈尔滨市南岗区南通大街145-1号楼 电话:0451- 82534001、82518134