[1]刘建华,刘华平,杨建国,等.测距式传感器同时定位与地图创建综述[J].智能系统学报编辑部,2015,10(5):655-662.[doi:10.11992/tis.201403017]
 LIU Jianhua,LIU Huaping,YANG Jianguo,et al.A survey of range-only SLAM for mobile robots[J].CAAI Transactions on Intelligent Systems,2015,10(5):655-662.[doi:10.11992/tis.201403017]
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测距式传感器同时定位与地图创建综述(/HTML)
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《智能系统学报》编辑部[ISSN:1673-4785/CN:23-1538/TP]

卷:
第10卷
期数:
2015年5期
页码:
655-662
栏目:
出版日期:
2015-10-25

文章信息/Info

Title:
A survey of range-only SLAM for mobile robots
作者:
刘建华12 刘华平3 杨建国1 高蒙2 孙富春3
1. 东华大学 机械工程学院, 上海 201620;
2. 石家庄铁道大学 电气与电子工程学院, 河北 石家庄 050043;
3. 清华大学 智能技术与系统国家重点实验室, 北京 100084
Author(s):
LIU Jianhua12 LIU Huaping3 YANG Jianguo1 GAO Meng2 SUN Fuchun3
1. College of Mechanical Engineering, Donghua University, Shanghai 201620, China;
2. College of Electrical and Electronic Engineering, Shijiazhuang Tiedao University, Shijiazhuang 050043, China;
3. Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China
关键词:
移动机器人测距扩展卡尔曼滤波粒子滤波奇异值分解同时定位与地图创建
Keywords:
mobile robotrange-onlyKalman filterparticle filtersingular value decompositionsimultaneous localization and mapping (SLAM)
分类号:
TP24
DOI:
10.11992/tis.201403017
文献标志码:
A
摘要:
移动机器人的同时定位与地图创建(SLAM)是当前机器人领域中的热点问题,基于测距传感器SLAM实质是距离信息的在线提取和描述,本文针对这一问题进行了详细介绍。此外,阐述了测距式机器人SLAM的解决思路、关键技术和实现方法;重点探讨了扩展卡尔曼滤波(EKF)、粒子滤波(PF)和矩阵奇异值分解(SVD)3种主要方法的实现过程和存在的问题;对基于测距式的SLAM方法需要解决问题、完善的方面及研究前景进行了阐述。
Abstract:
This paper details the research on simultaneous localization and mapping (SLAM) for mobile robots, currently a hot spot in robotics. The essence of range-only SLAM is online extraction and representation of range information. The basic idea, key technology, and solution for range-only SLAM are discussed; then a performance comparison of the fundamental methods is made. Three of the most commonly used methods:Kalman filter, particle filter and singular value decomposition are discussed in detail, emphasizing the realization process and some practical problems. Further research, on the problems, improvements, and development prospects for range-only SLAM, is discussed.

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备注/Memo

备注/Memo:
收稿日期:2014-03-05;改回日期:。
基金项目:国家高技术研究发展计划资助项目(2007AA04Z232);国家自然科学基金资助项目(61075027,91120011);河北省自然科学基金资助项目(F2010001106,F2013210094).
作者简介:刘建华,男,1974年生,副教授,主要研究方向为计算机控制与仿真、机器人路径规划、机器人定位。参与并完成省部级项目6项。发表学术论文30余篇,其中被EI检索7篇,ISTP收录6篇;刘华平,男,1976年生,副教授,博士,主要研究方向为智能控制与机器人、视频跟踪与检测、智能交通等。主持国家自然科学基金2项,发表学术论文50余篇,其中被SCI、EI收录10余篇;杨建国,男,1951年生,教授,博士生导师,主要研究方向为机电一体化、自动化。任中国自动化学会制造技术专业委员会委员,中国机械工程学会高级会员,教育部《数字化纺织服装技术工程研究中心》常务副主任,上海市工程图学会理事等。主持并完成国家自然基金项目2项,国家“863”计划项目4项、国家技术创新项目1项及省部级科技攻关项目5项。获得发明专利3项,发表学术论文60余篇,其中被EI、ISTP收录10余篇。
通讯作者:杨建国.E-mail:lfengju@163.com.
更新日期/Last Update: 2015-11-16