Spatial Representation and SLAM for Mobile Robot Navigation

摘要

Navigation research is one of the most important fields in the research of mobile robot.And spatial representation is the basic problem in the navigation research of mobile robot.Surrounding spatial representation for mobile robot navigation,this paper firstly summarizes several methods of spatial representation for mobile robot navigation in detail,including spatial decomposition representation,geometric character representation,topological map representation,and so on.Through the performance comparison between these spatial representation methods for mobile robot navigation,the advantages and disadvantages of these spatial representation methods are pointed out.Finally,the problem of simultaneous localization and mapping(SLAM) for mobile robot navigation is introduced,the main problems that are stumbling blocks in the research of SLAM are pointed out,and the further research directions of SLAM are discussed.