CAJ | 학술논문

移动机器人如何在未知环境下实现同步定位与地图创建(Simultaneous Location and Mapping,SLAM)是其真正实现自主导航的关键技术之一.通过对CEKF(压缩扩展卡尔曼滤波)的SLAM算法的研究,进一步分析讨论了SLAM问题中机器人在导航定位过程中产生误差的主要原因.根据SLAM问题中机器人定位误差的收敛特性,在机器人的不断运动过程中,机器人的定位误差会逐步增大,理论分析的可能原因是CEKF非线性算法所导致的误差积累.结合仿真模型,对算法中造成误差的原因进行了详细的理论分析与仿真研究,分析表明在完全未知的环境下无法预测机器人定位误差的限度,当机器人的运动速度和舵角最大变化率超出一定的限度时,算法会出现比较明显的误差,而且不同的局部地图划分对机器人的位置估计也有较大影响.
이동궤기인여하재미지배경하실현동보정위여지도창건(Simultaneous Location and Mapping,SLAM)시기진정실현자주도항적관건기술지일.통과대CEKF(압축확전잡이만려파)적SLAM산법적연구,진일보분석토론료SLAM문제중궤기인재도항정위과정중산생오차적주요원인.근거SLAM문제중궤기인정위오차적수렴특성,재궤기인적불단운동과정중,궤기인적정위오차회축보증대,이론분석적가능원인시CEKF비선성산법소도치적오차적루.결합방진모형,대산법중조성오차적원인진행료상세적이론분석여방진연구,분석표명재완전미지적배경하무법예측궤기인정위오차적한도,당궤기인적운동속도화타각최대변화솔초출일정적한도시,산법회출현비교명현적오차,이차불동적국부지도화분대궤기인적위치고계야유교대영향.
Through the research on SLAM algorithm of CEKF (compressed Extended Kalman Filter),this paper analyses and discusses the main reason for robot SLAM problem errors in navigation and positioning process.Based on the conver-gence properties of the robot positioning error in SLAM problems,the robot positioning error wil gradual y increase during the continuous motion of the robot,the possible reasons of theoretical analysis is the CEKF nonlinear algorithm resulting the error accumulation.Combined with simulation model,this paper performs a detailed theoretical analysis and simulation study about the causes of error for the algorithm.