机器人
機器人
궤기인
ROBOT
2010年
1期
83-90
,共8页
动态环境%同步定位与地图构建(SLAM)%路径规划%一致性估计
動態環境%同步定位與地圖構建(SLAM)%路徑規劃%一緻性估計
동태배경%동보정위여지도구건(SLAM)%로경규화%일치성고계
dynamic environment%simultaneous localization and mapping (SLAM)%path planning%consistent estimation
针对动态环境下随机目标同时为特征点和障碍物的情况,提出一种基于路径规划的同步定位与地图构建(SLAM)算法.机器人在同步定位与地图构建的同时,基于势场原理来规划机器人下一步的运动控制规律.利用混合当前统计模型的交互式多模型(IMM)方法预测随机目标的轨迹,采用最近邻数据关联方法将动态随机目标关联到地图中.算法构建的地图由静态特征点和随机目标的轨迹组成.仿真结果表明,提出的算法解决了动态环境中存在的随机目标同时为障碍物时机器人的同步定位与地图构建问题,相关性能指标验证了算法的一致性估计.
針對動態環境下隨機目標同時為特徵點和障礙物的情況,提齣一種基于路徑規劃的同步定位與地圖構建(SLAM)算法.機器人在同步定位與地圖構建的同時,基于勢場原理來規劃機器人下一步的運動控製規律.利用混閤噹前統計模型的交互式多模型(IMM)方法預測隨機目標的軌跡,採用最近鄰數據關聯方法將動態隨機目標關聯到地圖中.算法構建的地圖由靜態特徵點和隨機目標的軌跡組成.倣真結果錶明,提齣的算法解決瞭動態環境中存在的隨機目標同時為障礙物時機器人的同步定位與地圖構建問題,相關性能指標驗證瞭算法的一緻性估計.
침대동태배경하수궤목표동시위특정점화장애물적정황,제출일충기우로경규화적동보정위여지도구건(SLAM)산법.궤기인재동보정위여지도구건적동시,기우세장원리래규화궤기인하일보적운동공제규률.이용혼합당전통계모형적교호식다모형(IMM)방법예측수궤목표적궤적,채용최근린수거관련방법장동태수궤목표관련도지도중.산법구건적지도유정태특정점화수궤목표적궤적조성.방진결과표명,제출적산법해결료동태배경중존재적수궤목표동시위장애물시궤기인적동보정위여지도구건문제,상관성능지표험증료산법적일치성고계.
To deal with random object characterized by both landmark and obstacle in dynamic environments, a simultane-ous localization and mapping (SLAM) algorithm based on path planning is presented. During robot simultaneous localization and mapping, the robot motion control law is planned for the next step based on the potential field theory. The trajectory of random object is predicted by the interacting multiple model (IMM) method of hybrid current statistical model. The dynamic random object is associated with the map by the nearest neighbor method. The built map by the proposed algorithm is com-prised of trajectories of static landmarks and random objects. Simulation results show that the SLAM problem in dynamic environments with random objects characterized by obstacle is solved by the proposed algorithm. The relevant performance indicators prove that the estimation of the algorithm is consistent.
