Research on Mobile Robot SLAM in Dynamic Environment

摘要：

A SLAMiDE (SLAM in Dynamic Environments) system is designed and realized in the paper, which supplies a holistic framework and a series of implementation methods for mobile robot SLAM in dynamic environments. A uniform target model is proposed in SLAMiDE system. The dynamic targets and static targets and the mobile robot pose are estimated simultaneously, by synthesized the research of the data association and dynamic targets detection and static SLAM based on local maps. Finally, the results of the experimental test prove that the SLAMiDE system can realize dynamic objects detection and mapping and location correctly.

关键词： Dynamic environments mobile robot simultaneous localization and mapping

作者: Bai-Fan Chen Zi-Xing Cai

作者单位: School of Information Science and Engineering, Central South University, Changsha 410083, China

会议类型: 国际会议

会议名称: 2011 3nd International Conference on Mechanical and Electronics Engineering(2011年第三届机械与电子工程国际会议 ICMEE2011)

会议地点: 合肥

会议语种:英文

页码: 232-238

在线出版日期: 2011-09-23（万方平台首次上网日期，不代表论文的发表时间）