| Navigation and SLAM system for mobile robot is widely involved in manufacturing, 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... |
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