| 基于多信息融合模型的SLAM算法研究及控制器设计 |
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| 引用本文：李正国,李武钢,张凯.基于多信息融合模型的SLAM算法研究及控制器设计[J].计算技术与自动化,2013,(2):52-55 |
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| 中文摘要:针对无人驾驶车辆SLAM算法中全局定位感知系统存在的问题，提出一种融合多信息认知模型的广义SLAM算法来设计控制器结构，并且利用道路结构化环境下智能传感器节点作为环境地图的一部分，快速构建道路环境地图，采用基于局部视觉的辅助定位导航方法进行车辆辅助定位，从而提高控制器全局定位的感知能力和系统定位响应速度。仿真计算表明，控制器可以得到车辆位置似然度的最佳值。 |
| 中文关键词:多信息融合 无人驾驶车辆 SLAM |
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| The Research of SLAM Algorithm Based on Multi-information Integrated Cognitive Model and the Design for Its Controller |
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| Abstract:Aiming at the problems existing in the whole Localization apperceive system of Simultaneous Localization and Mapping（SLAM）algorithm for unmanned vehicle, this paper puts forward a generalized SLAM algorithm based on a fusion multi-information integrated cognitive model to design the controller structure, utilizes the intelligent sensor node under the road structuralized environment as a part of environmental map, builds the road environmental map fastly, and adopts an auxiliary location and navigation method based on partial visual sense to assisting localization, thereby improves the controller’s ability of whole localization apperceive and the system’s localization response speeds. Simulation calculation indicates that the controller could gain the best value of unmanned vehicle position likelihood. |
| keywords:multi-information integrated cognitive unmanned vehicle SLAM |
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