Research on High Precision Autonomous Navigation of Shared Balancing Vehicles Based on EKF-SLAM  

作　　者：Xinyu Cheng Yanqing Wang Dingdong Guo Xuewei Li Yiming Gao 

机构地区：[1]Nanjing Xiaozhuang University,NanJing 211171,China

出　　处：《国际计算机前沿大会会议论文集》2023年第2期237-251,共15页International Conference of Pioneering Computer Scientists, Engineers and Educators（ICPCSEE）

摘　　要：In view of the technical difficulties of autonomous navigation in local areas,this paper proposes a high-precision autonomous navigation shared bal-ancing bike system based on EKF-SLAM.This system uses the EKF-SLAM algorithm in robot localization to achieve simultaneous localization and map con-struction using the extended Kalmanfilter.At the same time,GPS and IMU are also employed for absolute positioning,and point cloud matching is used for rel-ative positioning to achieve multisensor fusion positioning.For the convenience of users,this system uses the RNN-T model for speech recognition destinations.Through experimental verification,the EKF-SLAM-based autonomous naviga-tion technology proposed in this paper can meet the accurate localization service and can realize the function of high precision autonomous navigation and voice recognition of destinations for shared balancing vehicles in a local area.

关 键 词：Shared balancing vehicle EKF-SLAM Autonomous navigation GPS IMU 

分 类 号：TN9[电子电信—信息与通信工程]