An overview of the simultaneous localization and mapping on mobile robot

摘要

Localization and map building of mobile robots is a fundamental and important problem in research on robotics. This paper comprehensively surveyed the simultaneous localization and mapping (SLAM) of robot under the unknown environment. The researches of mobile robot SLAM all of the world in recent years are summarized and analyzed. The basic idea of the SLAM and the characteristics and categories of the map representation and self-location based on probability theory are detailedly analyzed and described in this paper. At the same time, the characteristics and limitations of the various research methods for SLAM are pointed out, and two typical implementing mechanisms of the SLAM are introduced.