Nowadays,the development of mobile robot technology has made the simultaneous localization and mapping(SLAM)technology more and more concerned by scholars.In an unfamiliar environment,it is the most basic requirement of SLAM to en-able mobile robots to complete mapping or exploration autonomously.In the past decade,single-sensor has provided good results for robot mapping and exploration,while multi-sensor fusion SLAM has become the main research direction of SLAM develop-ment due to its strong robustness and high precision technical characteristics,which provides higher possibilities for improving the accuracy and speed of mobile robot mapping.In this paper,the current schemes of multi-sensor fusion SLAM are summa-rized,and the single-sensor schemes are compared firstly.Then,the schemes of multi-sensor fusion technology are compared.Finally,the difficulties and solutions of multi-sensor fusion SLAM are analyzed,and the future and development of multi-sensor fusion SLAM are discussed.
关键词
移动机器人/单传感器/多传感器融合/同步定位与建图
Key words
mobile robot/single-sensor/multi-sensor fusion/simultaneous localization and mapping(SLAM)
维普
万方数据