A Mobile Robot Localization and Map Building Algorithm and Simulation
In order to realize the localization demand of mobile robot,the motion model and observation model of mobile robot were analyzed,and the mobile robot real-time localization algorithm of given map environment based on extended Kalman filtering was described.Besides,the algorithm was simulated.The landmark model of map was built in the process of simulation,and the landmark that was observed under control action was used to correct the location of mobile robot,by which the positioning of robot was realized.The result of simulation shows that the positional accuracy of this algorithm is very high.In addition,the construction method of real-time map of mobile robot was described on extended Kalman filtering under unknown environment based on this.Experimental result shows that this algorithm can identify the location of landmark accurately so as to give reference for the real-time positioning and mapping construction of mobile robot.
Mobile Robot Extended Kalman Filtering Localization Map Simulation
ZHANG Qian Pei Hailong ZHANG Cheng
Key Laboratory of Autonomous Systems and Networked Control(South China University of Technology),Ministry of Education,Guangzhou,510640,P.R.China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
3339-3344
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）