一种基于线段特征的室内环境主动SLAM方法-机器人.PDFVIP

31 2 ROBOT Vol.31, No.2 2009 3 Mar., 2009 1002-0446(2009)-02-0166-05 SLAM 1 1 2 1 1. 3000712. 300071 SP Poineer 3 DX SLAMSP TP24 B An Active SLAM Approach Based on Line Segment Feature in Indoor Environment WU Tao1 SUN Feng-chi1 YUAN Jing2 HUANG Ya-lou1 (1. College of Software, Nankai University, Tianjin 300071, China; 2. Department of Automation, Nankai University, Tianjin 300071, China) Abstract: In the framework of SP model, line segment features are extracted from laser scanning points to describe the indoor environment. An active simultaneous localization and mapping approach based on the optimal control is proposed. In this method, optimal control input is determined for the robot by comprehensively considering both the degree of system uncertainty and the level of environment exploration, so the robot can build an accurate and complete map of the environment. Experiments are carried out on the Pioneer 3 DX mobile robot platform and the results are presented to demonstrate the eectiveness of the approach. Keywords: active simultaneous localization and mapping (SLAM); symmetries and perturbations model (SP model); line segment feature; virtual extension line 1 Introduction extended Kalman filterEKF [2] [3]