The Research Of Simultaneous Localization And Mapping System For Indoor Complex Environment

With the rapid development of mobile robot technology, autonomous mobile robothas the capability of environmental information perception, behavior control,dynamicdecision-making，human-computer interaction，etc. The autonomous problems of themobile robot are divided into autonomous localization, environmental map updating,and path planning. In the absence of precise global navigation and positioninginformation, the problem research of simultaneous localization and mapping system isthe key technology which can realize mobile robot autonomously.The main research of this paper is supported by the National Natural ScienceFoundation that is based on SEM indoor unstructured environment SLAM study project.For the features of indoor complex unstructured environment for the obstacle irregularshape, and the motion characteristics of the deformable robot which is used for the ruinsserach and resue, we can realize deformable robot autonomous positioning in the globalenvironmental information map and environmental information map online updating.We perform the modular structure design according to the functional requirementsanalysis of simultaneous localization and mapping system. It would achieve thefunction of environmental information acquisition subsystem, robot status informationacquisition subsystem, and localization and mapping online updating subsystem. Theenvironmental information acquisition subsystem is using the embedded processor andlaser sensor for environmental information data collection, analysis and processing,parsing out the obstacle relative distance information. The robot status informationacquisition subsystem is to predict the next time of the mobile robot position andorientation information which is based on the current time of the mobile robot positionand orientation information, the moving relative distance information and turning thedead deflection angle information. The localization and mapping online updatingsubsystem is to achieve autonomous mobile robot positioning in global environmentalinformation map which is based on mobile robot position and orientation information,and to realize the environmental information mapping online updating by extendedKalman filter. In the complex indoor environments unstructured environment, it carried out theexperiment to testify the deformable mobile robot simultaneous localization andmapping system online updating capability and closed-loop correction capability. Thusit is proving the simultaneous localization and mapping system effectiveness andalgorithm stability.