移动机器人的同时定位与地图创建的算法研究

摘要

Simultaneous Location and Mapping of the mobile robot are the basic problems and hot pots in the field of robot-ics,and they are also the key to realize autonomous navigation and control decision. This paper introduces two algorithms:Filter based on Bayes and Smoothing based on graph-based, reviews the basic framework and the key technologies, and e-laborates the various forms of achieving. After that, the paper analyzes the performance of these algorithms, and lists the advantages and disadvantages, as well as the way of dealing with difficulties. Finally, the potential future issues and re-search trends are also explored.%移动机器人的同时定位与地图创建是当前机器人领域研究的基本问题与热点，也是实现智能机器人实现自主导航和控制决策的关键。本文从基于贝叶斯滤波器模型和基于图优化平滑模型两个方面对移动机器人同时定位与地图创建( SLAM)的研究进行了综述，介绍了这两种模型的基本框架以及关键技术，阐述了模型的各种不同实现形式，分析了这些算法的性能，并探讨了这些算法的优缺点以及相关难点的解决思路。最后对基于滤波器模型和基于平滑模型的同时定位与地图创建的未来发展进行展望。