Study on Method of Autonomous Mobile Robot Integrated Navigation Based on SLAM

Aiming at the problem of navigation in unknown environment of autonomous mobile robot, the self-made mobile robot was taken as research object. The integrated navigation technology was adapted to integrate the SLAM navigation system, DR navigation system and MEMS micro inertial navigation system possessed by the studied robot to construct the SLAM/DR/MEMS integrated navigation system of mobile robot. The experiments were carried to test the method, and the results show that the precision of navigation and location of mobile robot was developed by the integrated navigation scheme.

[1]  Udo Frese,et al.  A Discussion of Simultaneous Localization and Mapping , 2006, Auton. Robots.

[2]  Robin R. Murphy,et al.  Artificial intelligence and mobile robots: case studies of successful robot systems , 1998 .

[3]  Wolfram Burgard,et al.  The Mobile Robot Rhino , 1995, SNN Symposium on Neural Networks.

[4]  Hugh F. Durrant-Whyte,et al.  Simultaneous localization and mapping: part I , 2006, IEEE Robotics & Automation Magazine.

[5]  Alexei Makarenko,et al.  An experiment in integrated exploration , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Hugh Durrant-Whyte,et al.  Simultaneous localization and mapping (SLAM): part II , 2006 .

[7]  James L. Crowley,et al.  Mathematical Foundations of Navigation and Perception for an Autonomous Mobile Robot , 1995, Reasoning with Uncertainty in Robotics.