摘要
工业技术革新使得机器人对自主导航和路径规划的要求日趋严格,基于激光雷达的同步定位和地图构建作为一种高效、成熟的自主导航方案,已成功在多种场景中实现智能作业。本文针对激光同步定位与建图SLAM的发展现状,系统分析基于滤波器和基于图优化的两种激光SLAM的经典方案,并围绕激光SLAM的基本框架分别对近年来较高效的SLAM算法进行详细介绍,最后对激光SLAM的发展趋势进行了展望。
The innovation of industrial technology imposes stringent requirements one the autonomous navigation and path planning of robots.Synchronous localization and mapping(SLAM)based on LiDAR has become a mature and efficient solution,enabling intelligent machine operations across various scenarios.This paper reviews the current state of laser SLAM,systematically analyzing two classical approaches:filter-based and graph-based optimization.Additionally,it details recent efficient SLAM algorithms within the framework of laser SLAM and discusses the future development trends of this technology.
作者
郑成基
郭敏
周超
吴超群
蒲茜
柴汇
杜晓辉
ZHENG Chengji;GUO Min;ZHOU Chao;WU Chaoqun;PU Qian;CAI Hui;DU Xiaohui(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China;Beijing Jiaotong University,School of Mechanical,Electronic and Control Engineering,Beijing 100044,China;Shandong University,School of Control Science and Engineering,Jinan 250100,China;Instrumentation Technology and Economy Institute P.R.China,Beijing 100055,China)
基金
国家重点研发计划资助项目(2022YFB4701500)
湖北省自然科学基金资助项目(2021CFB306)
作者简介
郑成基(1997-),男,福建霞浦人,武汉理工大学机电工程学院硕士研究生.
