Map Building for Mobile Robot Based on Distributed Control Technology

摘要：

In this paper,we presents an efficient Simultaneous Localization and Map-Building (SLAM) technique for indoor mobile robot navigation based on Laser Range Finder and Rao-Blackwellized Particle Filter (RBPF).Robot Technology Middleware (RTM)was used in the developed system.By using RTM,we can develop functional elements as “RT software components that can be implemented by different programming languages,run in different operating system,or connected in different networks to inter-operate.Based on RTM,we developed LRF data getting component,mobile robot control component,data buffer component,RBPF component, matching component,local map component and GUI component.This paper describes the architecture of the proposed system and gives some experimental results.

作者: Songmin Jia Ke Wang Xiuzhi Li Wei Cui Jinhui Fan Jinbo Sheng

作者单位: College of Electronic Information &Control Engineering Beijing University of Technology Beijing,Chin Hitachi,Ltd Tokyo,Japan

会议类型: 国际会议

会议名称: 第八届IEEE信息与自动化国际会议(ICIC 2011)

会议地点: 深圳

会议语种:英文

页码: 279-284

在线出版日期: 2011-06-06（万方平台首次上网日期，不代表论文的发表时间）