The Research Of Simultaneous Localization And Mapping For Mobile Robot

This paper mainly studies the technology of simultaneous localization and mapping in the field of mobile robot navigation. With this technology t he mobile robot can know its own location and simultaneously build environment map by environment information getting from sensor. The mobile robot can come back to the starting position taking advant age of location information and the surrounding environment before when the communication is interrupted, which improves the level of mobile robots to viability in the process of performing tasks.Obviously,the technology has important research value.Taking tracked mobile robot as research object,a model of kinematic model of the robot is established. Deriving the implementation process of dead reckoning location based on the model, and analyzing the advantages and disadvantages of dead reckoning through simulation and experiments.Building a feature map based on laser radar, firstly gets envi ronment information using laser radar, extracts line features from this information, then matches the current features and map which has been created to update the map.Adopting extended Kalman filter to joint estimate the robot location and map feature location in order to solve simultaneous localization and mapping problem, accomplishing prediction and updated process of the simultaneous localization and mapping algorithm based on extended Kalman filter.Finally,the simulation results show this algorithm is effective.