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]





A survey of range-only SLAM for mobile robots
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
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
mobile robotrange-onlyKalman filterparticle filtersingular value decompositionsimultaneous localization and mapping (SLAM)
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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更新日期/Last Update: 2015-11-16