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浙江大学学报(工学版)
J4  2014, Vol. 48 Issue (3): 414-422    DOI: 10.3785/j.issn.1008-973X.2014.03.006
计算机技术，无线电电子学     
不依赖里程计的机器人定位与地图构建
康轶非,宋永端,宋宇,闫德立
北京交通大学 电子信息工程学院, 北京 100044
Simultaneous localization and  mapping without relying on odometer
KANG Yi-fei, SONG Yong-duan, SONG Yu, YAN De-li
School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, China
 全文: PDF(2275 KB)   HTML
摘要：

为了解决缺少里程计情况下的移动机器人同时定位与地图构建（SLAM）问题,提出一种机器人运动状态估计模型.通过将该模型与FastSLAM框架相结合,在SLAM过程中实现对机器人位置、姿态及其运动状态（如速度）的估计.该算法用估计的运动状态代替里程计,实现了在没有里程计情况下的SLAM.为验证算法性能,通过仿真和维多利亚数据库的实验将该算法与需要里程计信息的SLAM算法相对比.实验结果表明,该算法在大于30个粒子的情况下可以达到与需要里程计信息的SLAM算法相当的精度.
Abstract:

A model for estimating robot motion state was proposed to handle simultaneous localization and mapping (SLAM) without odometry. By combining this model with framework of FastSLAM, the proposed algorithm estimates the robot position,  pose and  motion state (such as speed) during SLAM. The proposed algorithm uses the estimated motion state instead of odometer, thus enables SLAM with noodometer. The performance of the algorithm  was verified by comparison of the proposed algorithm with the SLAM algorithm including odometry information by simulation and Victoria database. Experimental results show that the proposed algorithm can  achieve the same accuracy as that of the SLAM algorithm with odometer information in the case of the particles larger than 30．
出版日期: 2018-06-10
:  TP 242  
基金资助:

国家“973”重大专项规划资助项目(2012CB215202)；国家自然科学基金资助项目(61134001,60909055)；国家“863”高技术研究发展计划资助项目(SS2012AA052302)；中央高校基本科研业务费专项资金资助项目(2014JBM014).
通讯作者: 宋永端，男，教授.     E-mail: ydsong@bjtu.edu.cn
作者简介: 康轶非(1988-)，男，博士生，从事车辆定位的研究.E-mail:ccyclonel@gmail.com
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引用本文:

康轶非,宋永端,宋宇,闫德立. 不依赖里程计的机器人定位与地图构建[J]. J4, 2014, 48(3): 414-422.

KANG Yi-fei, SONG Yong-duan, SONG Yu, YAN De-li. Simultaneous localization and  mapping without relying on odometer. J4, 2014, 48(3): 414-422.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2014.03.006    或    http://www.zjujournals.com/eng/CN/Y2014/V48/I3/414

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