Design of Mobile Robot Navigation System Using vSLAM and Distributed Filter Techniques

摘要

A Vision based Simultaneous localization and mapping (vSLAM) algorithm for navigation systems is a key problem in the field of automation and Control systems. The SLAM technique is used to calculate the pose estimation for unknown environment. In this paper, Autonomous navigation system is design for mobile robot control with a distributed filter. Basically the filter technique is used to reduce the internal and external noise. The proposed system design is used to guide the robot in unknown environment. Simultaneous Localization and Mapping, which means that the mobile robot can simultaneously determine its position and reconstruct the surrounding environment or unknown path is achieved. In this paper, we used the vision-based SLAM method to improve navigation performance. By design the two encoders for calculating the robot position. The Image correlation method is used to implement the mapping technique for pose estimation and distributed filter using kalman filtering to reduce the noise in input images or remote images.