基于EKF-SLAM的AUV自主导航算法的多线程实现

摘要

针对海巡者号(C-RANGER) AUV平台以及适用于此平台的EKF-SLAM算法模型,为了提高算法的运算速度和系统的时效性,对EKF-SLAM算法进行了并发执行的可行性分析,并运用多线程技术对算法的实现进行了改进.为了验证效果做了测试实验.通过对实验结果的分析表明,采用多线程技术可以改善EKF-SLAM算法的效率和系统性能.%As far as the sea patrol(C-RANGER) AUV platform and the EKF-SLAM algorithm model which is applicable to the plalform in order to improve the operation speed of the algorithm and timeliness of the system, the feasibility of parallel execution of SLAM algorithm is analyzed, the multithreading technology is used to improve the implementation of algorithm, and many test experiments are performed to verify the experimental results . Through analysis of the experimental result, it is shown that multithread technology can improve the efficiency of the algorithm EKF-SLAM and performance of the system.