The Autonomous Navigation Research of Mobile Robot EKF-SLAM and FastSLAM Algorithm Based on Feature Map

Mobile robot autonomous navigation and SLAM(Simultaneous Localization and Mapping) in an unknown environment are discussed.A method to build two-dimensional visual landmark feature maps is designed,and based on monocular vision sensor and odometer of the robust perceptual model,a three-dimensional information landmark database in the world coordinate system is built and feature map is gained.A method to analyze the autonomous navigation of a mobile robot based on Python by means of putting into extended module NumPy and PyLab is put forward.On Python a simulation platform is constructed,and the navigation process is analyzed by EKF(Extended Kalman Filter)-SLAM and FastSLAM algorithm under different noise environments.Results show that the composition program and simulation platform are suitable.