CAJ | 학술논문

针对同步定位与地图、构建SLAM（Simultaneous Localization and Mapping）算法中，单个传感器提供的信息受到传感器本身特性和周围环境制约的局限性，提出了在仅声纳更新的SLAM算法同时，引入航向和速度的多传感器更新，使得自主式水下机器人AUV（Autonomous Underwater Vehicle）的定位和构图更精确。通过对实验结果的分析验证了多传感器更新的SLAM算法的有效性。
침대동보정위여지도、구건SLAM（Simultaneous Localization and Mapping）산법중，단개전감기제공적신식수도전감기본신특성화주위배경제약적국한성，제출료재부성납경신적SLAM산법동시，인입항향화속도적다전감기경신，사득자주식수하궤기인AUV（Autonomous Underwater Vehicle）적정위화구도경정학。통과대실험결과적분석험증료다전감기경신적SLAM산법적유효성。
Aiming at the limitations of the information provided by single sensor which is easily affected by surroundings and its characteristics restrict in SLAM (Simultaneous Localization and Mapping), multi-sensor update SLAM algorithm based on only sonar update SLAM is proposed, which can improve the accuracy of SLAM for AUV (Autonomous Underwater Vehicle). Finally, experimental results indicate that the multi-sensor update SLAM algorithm is valid.