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自主机器人SLAM改进算法

Release time:2023-10-19 Hits:

Key Words:自主机器人;;SLAM;;数据相关;;交叉协方差

Abstract:SLAM(Simultaneous Localization and Mapping,同时定位与地图创建)可以看成同时估计机器人和障碍物位置的问题,SLAM应用于未知环境的的主要困难之一就是这两个估计问题之间的强耦合。围绕这个问题提出了融合SLAM这两个估计的协方差交叉优化算法,解决了SLAM常用滤波算法易受到数据相关性困扰的问题。

Volume:No.113

Issue:04

Translation or Not:no

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曹梦龙

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