Mobile Robot Localization and Mapping Based on Mixed Model

摘要：

This paper presents a new method of localization and map building of mobile robot based on mixed map model using LRF (Laser Range Finder). The mixed model composed of occupancy grids and line character maps is utilized to represent the environment map. Firstly, the LRF models and Bayes rules are used to construct a local occupancy grid map. Then, we extract obstacles points to get a precise geometry character map through region partitioning, line segment extracting and fitting to construct the global map. Meanwhile, EKF (Extended Kalman Filter) through state prediction, observation prediction and estimation phase, is utilized to estimate the robot pose and correct the map model. What’s more, the operator can use interactive GUI (Graphical User Interface) to control the robot conveniently. The simulation results and the real experimental results indicate the feasibility and validity of this approach.

关键词： mobile robot map building mixed model Bayes rules GUI

作者: Songmin Jia Hao Yang Xiuzhi Li Wei Cui

作者单位: College of Electronic Information & Control EngineeringBeijing University of TechnologyBeijing, Chin College of Electronic Information & Control Engineering Beijing University of Technology Beijing, Ch

会议类型: 国际会议

会议名称: 2010 3rd International Conference on Advanced Computer Theory and Engineering(2010年第三届先进计算机理论与工程国际会议 ICACTE 2010)

会议地点: 成都

会议语种:英文

页码: 1-6

在线出版日期: 2010-08-20（万方平台首次上网日期，不代表论文的发表时间）