摘要
分析了SLAM中定位误差产生的原因,根据两个不同时刻观测的同一特征,提出了一种逆推法,用于计算机器人实际运动距离S,然后通过与机器人状体运动模型计算出的距离L相比较,计算两者差值是否在给定误差阈值内,以此判定机器人当前位置是否准确,方便及时进行机器人的全局位置校正。最后,通过实验分析,发现机器人定位误差能够得到较好的控制,提高了移动机器人定位精度,验证了该方法的有效性。
The cause of location error in SLAM was analyzed in this paper according to the same characteristics observed at two different moments,an inverse method was proposed to calculate the robot movement distance S.Then,by comparing with the distance L calculated by the robot motion model,whether the difference value is within the given error threshold was calculated so that the robot's current position is right or wrong can be drawn,and the global position of the robot can be corrected in time.Through the experiment,the robot position error can get better control and the accuracy of position was improved,and the validity of this method was verified.
出处
《蚌埠学院学报》
2017年第6期13-15,共3页
Journal of Bengbu University
基金
滁州学院规划项目(2014GH21)
安徽省教育厅自然科学研究项目(KJ2015B20)
关键词
定位
运动距离
误差阈值
location
movement distance
error threshold
