基于二分法的EKF-SLAM算法  

EKF-SLAM Algorithm Based on Dichotomy

作　　者：闫旭亮 杨功流[1] 王璐[1] YAN Xu-liang;YANG Gong-liu;WANG Lu(School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100083, China)

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100083

出　　处：《导航定位与授时》2020年第3期77-83,共7页Navigation Positioning and Timing

基　　金：国家重点研发计划(2016YFB0501600);装备预研基金重点项目(6140517020101)。

摘　　要：针对基于点特征的SLAM算法对实际环境描述运算量大的缺陷,提出了基于二分法的线特征SLAM仿真算法。通过判断机器人点到线特征直线的垂足所在位置选择不同的计算顺序,避免了直接求解带来的较大运算量。算法分析表明,该SLAM算法可以减少运算量,提高计算速度,并增强机器人的构图定位能力。基于该算法进行了仿真实验,实验结果表明,该算法有效地提高了运算速度,使得机器人可以更好地完成构图定位任务。In order to overcome the shortcoming of SLAM algorithm based on point feature,a line feature SLAM simulation algorithm based on dichotomy is proposed.By judging the position of the perpendicular foot of the robot to the line feature,different calculation orders are selected,which avoids the large amount of calculation caused by direct solution.The algorithm analysis shows that the proposed SLAM algorithm can reduce the computational complexity,improve the speed of operation,and enhance the robot's composition positioning ability.Based on the algorithm,simulation experiments are carried out.The experimental results show that the algorithm effectively improves the speed of operation,and the robot can better complete the task of composition positioning with it.

关 键 词：线特征 路标 二分法 卡尔曼滤波 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]