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Bearing-Only Slam for Autonomous Mobile Robot

Author: ZhangYuanZuo
Tutor: LiJiuSheng
School: Harbin Institute of Technology
Course: Electrical Engineering
Keywords: Autonomous mobile robot Vision Sensor Simultaneous Localization and Mapping Extended Kalman Filter
CLC: TP242.6
Type: Master's thesis
Year: 2009
Downloads: 130
Quote: 1
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Abstract


In an unknown environment simultaneous localization and mapping (SLAM) process through its own autonomous mobile robots carry sensors to sense the surrounding environment is a prerequisite for achieving its intelligent navigation . In view of the vision sensor with a lightweight , reliable, inexpensive and many other advantages , the use of visual sensors Simultaneous Localization and Map Building Technology ( also known as Bearing-only SLAM) to become a research hotspot in recent years . This article aims to traditional EKF-SLAM algorithm based Bearing-only SLAM problem for the establishment of a complete set of algorithms, and strive to achieve the Matlab simulation environment improved algorithm . Given the traditional EKF-SLAM SLAM algorithm to solve the basic problem algorithm , the algorithm of this paper, the estimation process is substantially framework for visual signs of azimuth sensor detects only result can not provide accurate information on this landmark location features in turn algorithm to solve the consequent updating problems, new road signs and the corresponding data initialization problems associated with other problems, gradually established for Bearing-only SLAM problem EKF algorithm , and build a simulation model of the algorithm . Based on these studies , this paper for the first time established a complete vision sensor based SLAM problem algorithm and Matlab simulation environment to achieve the algorithm. Simulation results show that the text created Bearing-only SLAM algorithm to meet the consistency and convergence of the two probability estimation criteria , is an effective solution to the problem Bearing-only SLAM probability estimation algorithm .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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