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

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.