【摘要】 自主移动机器人通过自身携带的传感器来感知周围环境是实现其智能导航的前提。由于视觉传感器只能检测路标的方位角,不能提供距离信息,当利用视觉传感器完成机器人的同步定位及地图创建(SLAM)时,由于路标距离信息的缺失,会带来新路标的初始化及旧路标关联等难题。为识别新路标方位,采用滞后的三角型测量法来估计新路标的距离,从而解决了新路标初始化及旧路标关联等问题,并最终建立了一套适用于视觉传感器的SLAM算法及在Matlab上建立的仿真模型。仿真实验结果表明,算法满足概率估计的一致性和收敛性条件,是一种有效的仅检测路标方位角的同步定位及地图创建算法,证明方法的有效性。更多还原

【Abstract】 In order to implement the intelligent navigation,it is a prerequisite for an autonomous mobile robot to perceive the environment around through the sensor system.And because of the lacking of range information,the using of the Bearing-only SLAM sensor which just obtains azimuth information may results in several problems such as feature initialization problem and data association problem.To solve the problems above,delayed triangulation is performed to recover the new landmark position and then a complete set of Bearing-only SLAM algorithm and corresponding simulation model are presented in this paper.The results demonstrate the validity of this algorithm which meets the consistency and astringency condition of probability estimation.更多还原