%0 Journal Article
%T Map building with autonomous mobile robot in the structured indoor environment<br>自主移动机器人的室内结构化环境地图创建
%A CHEN Jia-qian
%A HE Yan
%A JIANG Jing-ping
%A <br>陈家乾
%A 何 衍
%A 蒋静坪
%J 控制理论与应用
%D 2008
%I 
%X Localization and mapping are two important topics in the autonomous mobile-robot research.Within the framework of the extended Kalman filter algorithm,an efficient approach based on the direct motion control model is proposed,which can simultaneously localize the robot and build the map in the structured indoor environment.Simulation and experiment results indicate that odometer information can not solve the problems;but this approach can precisely localize the robot and build the consistent map.
%K simultaneous localization and mapping(SLAM)
%K autonomous mobile-robot
%K extended Kalman filter(EKF)
%K direct control model based on position and orientation
%K consistent map<br>同时定位和地图创建
%K 自主移动机器人
%K 扩展卡尔曼滤波器
%K 直接位姿控制模型
%K 一致性地图
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=6E6CFA500E562E8EA6448C76CEC0C242&yid=67289AFF6305E306&vid=C5154311167311FE&iid=E158A972A605785F&sid=70081086C74F4110&eid=FAC9AF09A23B46DD&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=1&reference_num=15