计算机工程
計算機工程
계산궤공정
COMPUTER ENGINEERING
2009年
24期
29-32
,共4页
有色量测噪声%轮式机器人%同步定位与地图构建%算法一致性
有色量測譟聲%輪式機器人%同步定位與地圖構建%算法一緻性
유색량측조성%륜식궤기인%동보정위여지도구건%산법일치성
colored measurement noise%wheeled robot%Simultaneous Localization and Mapping(SLAM)%consistency of algorithm
针对有色量测噪声模型,提出一种有色量测噪声下的轮式机器人同步定位与地图构建算法.通过重新组合轮式机器人的过程模型和量测模型,将有色量测噪声量测模型转化为虚拟的白噪声量测模型.为使过程噪声和量测噪声不相关,对过程模型进行不相关条件处理.算法按照构造的虚拟过程模型和量测模型进行滤波估计和地图构建.仿真结果验证了算法的一致性和鲁棒性.
針對有色量測譟聲模型,提齣一種有色量測譟聲下的輪式機器人同步定位與地圖構建算法.通過重新組閤輪式機器人的過程模型和量測模型,將有色量測譟聲量測模型轉化為虛擬的白譟聲量測模型.為使過程譟聲和量測譟聲不相關,對過程模型進行不相關條件處理.算法按照構造的虛擬過程模型和量測模型進行濾波估計和地圖構建.倣真結果驗證瞭算法的一緻性和魯棒性.
침대유색량측조성모형,제출일충유색량측조성하적륜식궤기인동보정위여지도구건산법.통과중신조합륜식궤기인적과정모형화량측모형,장유색량측조성량측모형전화위허의적백조성량측모형.위사과정조성화량측조성불상관,대과정모형진행불상관조건처리.산법안조구조적허의과정모형화량측모형진행려파고계화지도구건.방진결과험증료산법적일치성화로봉성.
Aiming at colored measurement noise model, this paper presents a Simultaneous Localization and Mapping(SLAM) algorithm for wheeled robot under colored measurement noise. Colored measurement noise model is converted into white measurement noise model by recombining the process model and the measurement model for wheeled robot. In order to make the process noise and the measurement noise irrelevant each other, the process model is re-defined. Estimating state and mapping are conducted in accordance with the virtual process model and the virtual measurement model. In data association step, part observed landmarks are processed as redundant landmarks. Some indicators of the filter are used to evaluate the performance the algorithm. Simulation results show that the algorithm is consistent and robust.
