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Research on Four-Wheeled Indoor Mobile Robot SLAM Based on RBPF Algorithm

机译:基于RBPF算法的四轮室内移动机器人SLAM研究

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摘要

Simultaneous localization and mapping (SLAM) of mobile robots in indoor unknown environments is one of the focuses of present robot researching. In order to realize indoor mapping, it proposes to that the four-wheeled mobile robot equipped with laser radar implements SLAM with RBPF algorithm. It can locate the robot in the process of indoor movement, and then the laser radar scans out the position obstacles and updates in real time, achieving the indoor mapping. The experiments are showing that the method proposed here can construct accurate map relatively and achieve the desired results.
机译:室内未知环境中移动机器人的同步定位与地图绘制(SLAM)是当前机器人研究的重点之一。为了实现室内制图,建议配备激光雷达的四轮移动机器人采用RBPF算法实现SLAM。它可以在室内运动过程中定位机器人,然后激光雷达扫描出位置障碍物并实时更新,从而实现室内地图绘制。实验表明,本文提出的方法可以构建相对准确的地图,并达到预期的效果。

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