室内环境的元胞自动机SLAM算法  

An Indoor SLAM Algorithm Based on Cellular Automata

作　　者：陈炜楠[1] 刘冠峰[1] 李俊良[1] 苏泽荣 管贻生[1] 张宏[1] 

机构地区：[1]广东工业大学机电工程学院,广东广州510006

出　　处：《机器人》2016年第2期169-177,共9页Robot

基　　金：国家基金委-广东省联合基金重点项目(U1401240);国家自然科学基金(51375095);国家国际科技合作专项(2015DFA11700);广东省自然科学基金(S2013020012797;2015A030308011);广东省省级前沿与关键技术创新专项资金(2014B090919002;2015B010917003)

摘　　要：针对人工室内环境的同时定位与构图(SLAM)问题,将元胞自动机(CA)引入到传统SLAM算法的迭代过程,建立"SLAM-CA生长-重定位"的闭环作用机制.利用室内规则环境的特性,以及大多数室内机器人应用领域已知先验地图的特点,对室内SLAM问题开展针对性的研究.通过仿真与实验证明,针对人工室内环境,该算法使得墙壁、出入口与直角特征更加明显,"穿墙"现象得到一定程度解决,改善了构图效果,提高了定位精度和路径规划可行性.To improve simultaneous localization and mapping （SLAM） in indoor environments, the cellular automata （CA） is introduced into the iterative process of traditional SLAM algorithm and“SLAM-CA-relocation”closed-loop mechanism is established. Based on the characteristics of the regular indoor environment and a priori map in most mobile robot applications, the indoor SLAM problem is further studied. In the simulations and experiments in artificial indoor environments, the features of wall, exit, doors and right-angle parts become more clear, the problem of“through walls”is solved to some extent, the mapping quality is improved, the localization precision is increased, and the feasibility of path planning is also enhanced.

关 键 词：同时定位与构图 元胞自动机 移动机器人 自主导航 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]