开发工具:
文件大小: 1mb
下载次数: 0
上传时间: 2019-03-01
详细说明：这是一份论文综述，用来了解初识这个领域，给需要的人分享！SLAM
SLAM
SLAM
SLAM
LAM
ABSTRACT
Navigation and SLAM system for mobile robot is widely involved in
manutacturing, space development and service robot
There are three keys referring to navigation:(1)Mapping, the model that
represents the working space of mobile robot serves path planning;(2) Path
planning, the key technology for navigation is aimed to searching an optimal
path avoiding obstacles from start position to goal position in the map with
regards to required performance guideline; (3)Localization, the elementary
factor ensuring the success of navigation provides the accurate position and
pose of mobile robot in the working space
And in order to realize the navigation accurately, robot has to know its
localization, especially when it doesn't have map. Simultaneous Localization
and Mapping(slam) has become one of the hottest problems. SLAM mainly
refers to five aspects: (1) How to express map ,(2) How to deal with
uncertainty, (3)How to combine data,(4)How to localize, (5) How to plan
path. These problems almost contain all parts of mobile robotics. And they
connect with others close
During the past years of researching, people have proposed a lot of theories
and practical methods which are focused on how to mapping, path planning
and localization. However, it is very seldom involved that how to develop the
practical navigation system for mobile robot from the view of the whole
Therefore, this paper proposes a hierarchical navigation system for
autonomous mobile robot based on known map It consists of three modules
map editor, self-localization and hierarchical planning. Map editor module
takes charge of editing navigation map Self-localization module uses the data
from odometry and laser scanner to localize robot based on matching between
local and global maps which combines advantages of odometry and laser
scanner. Hierarchical planning module efficiently integrates global topological
map-based planning, local grid map-based planning, and low-level behavior
control functions. Topological map can ease global planning and grid map can
help plan in deta
Furthermore, this paper proposes a Slam method for a mobile robot's
self-localization without maps. We use the wall-following strategy in the
SLAM method to ensure the real-time performance of the system. And we
fuse odometry data and laser data for self-localization to solve the uncertainty
problem. In addition, we use the relationship of line segments to combine
global map and local map
Finally, the navigation and slaM system software has been successfully
integrated with an autonomous robot and showed its feasibility and robustness
in two experiments: (1) the experiment of self-localization and navigation in a
large-scale environment;(2) the experiment of the SLAM method with the
laser sensor for self-localization and building map
KEY WORDS
mobile robot, navigation, map, localization, SLAM
200729
ISO
TC184
SC2
A robot is a machine which can be programmed to perform
some tasks which involve manipulative or locomotive actions under automatic control
Banshan
Durrant-Whyte 54
0.0
0.5
(系统自动生成,下载前可以参看下载内容)
下载文件列表
相关说明
- 本站资源为会员上传分享交流与学习,如有侵犯您的权益,请联系我们删除.
- 本站是交换下载平台，提供交流渠道，下载内容来自于网络，除下载问题外，其它问题请自行百度。
- 本站已设置防盗链，请勿用迅雷、QQ旋风等多线程下载软件下载资源，下载后用WinRAR最新版进行解压.
- 如果您发现内容无法下载，请稍后再次尝试；或者到消费记录里找到下载记录反馈给我们.
- 下载后发现下载的内容跟说明不相乎，请到消费记录里找到下载记录反馈给我们，经确认后退回积分.
- 如下载前有疑问，可以通过点击"提供者"的名字，查看对方的联系方式，联系对方咨询.
