Research And Implementation Of An Improved SLAM Algorithm Based On Grid Map

With the rapid development of social economy and enhance labor costs. A large number of automation equipment have gone into actual production. Mobile robot gets a great application in various fields for its flexibility and intelligence. Such as transport logistics plant work, intelligent power plant inspections and disposal of nuclear waste. Mobile robot have been seen everywhere. Robot positioning technology is the most important technology in mobile robot technology. In this dissertation, Modification methods based on existing SLAM(simultaneous localization and mapping) technology have been proposed.This dissertation is designed as the autonomous mobile robot platform. It is used as an experimental SLAM technology platform. With incremental photoelectric encoder and a laser range finder as a mobile robot sensors. A block diagram of the electrical configuration and control block diagram of the mobile robot is presented. The processing, assembly and testing autonomous mobile robot moving system are completed. While the completion of migration and development software environment.By analyzing the existing algorithms and related improvements of SLAM algorithms, a new improved SLAM algorithm is proposed. In order to understand the feasibility of improving the SLAM algorithm, simulation of improved SLAM algorithm in matlab has been done. And obtained the grid map. Simulation results show that the improved SLAM algorithm is feasible. Next, implement the existing experimental platform of RBPF-SLAM algorithm, complete autonomous mobile robot localization and map building mobile systems.Finally, research prospects about the mobile robot simultaneous localization and mapping problem is presented.