| Simultaneous localization and mapping of mobile robots refer to the main body that can carry specific sensors.On the premise of almost no prior information of environment,the model of surrounding environment can be established at the same time of motion,and the motion of the environment can be estimated simultaneously.SLAM technology makes the robot have the premise of intelligence,and its solution has become a hot issue in the field of mobile robot research,and it is the key to realize the autonomous navigation of the robot.Firstly,this paper suggests the background and introduces a particular analysis of the basic theory of the technology and the main algorithm of filtering algorithms such as Calman,Calman and the principle of extended particle filter are analyzed and simulated by MATLAB to the corresponding conclusion;And them,the principle and process of EKF-SLAM algorithm and Fast SLAM algorithm are introduced,as well as simulation experiment and experimental analysis;Then,the experimental platform of this paper is described,and the selection of hardware and software based on the experimental platform to build their own and with the robot operating system(Robot Operating System,ROS)system,Fast SLAM experiments were performed in the experiment,the experimental results verify the rationality of the algorithm,and the affirmative the conclusion of the design of the hardware.Finally,the paper summarizes the shortcomings of the experimental process and the aspects to be improved,and makes prospects for future work. |
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