基于粒子群算法的单目移动机器人地图创建  

Particle swarm optimization based map building for monocular vision mobile robots

作　　者：罗元[1] 张百胜[1] 李玲[1] 

机构地区：[1]重庆邮电大学智能系统及机器人研究所,重庆400065

出　　处：《微计算机信息》2009年第14期221-222,112,共3页Control & Automation

摘　　要：提出了一种基于粒子群优化算法的移动机器人地图创建方法,该方法模型简单,算法复杂度低,收敛速度快。首先对实验环境进行了描述,通过建立模型推导出了路标的坐标公式,提出了问题的关键。详细介绍了粒子群优化的工作原理,论述了该算法在地图创建中的具体实现。通过与算术平均法实验结果比较,证实了该方法的有效性。A global map building approach based on particle swarm optimization （PSO） is presented.This algorithm has a simple model, low complexity, and rapid convergency. Firstly, the model for experiment is described. Based on it, the formula of landmarks＇ coordinates and the key of this problem is given. Then the principal of PSO and its realization in map building are discussed in detail. At last, compared with the experiment result by Arithmetic average algorithm, particle swarm optimization algorithm is provided to be effective and practical in map building.

关 键 词：移动机器人 地图创建 粒子群优化算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]