Research of Simultaneous Location and Mapping of the Mobile Robot

摘要

Simultaneous Location and Mapping of the mobile robot are the basic problems and hot pots in the field of robotics,and they are also the key to realize autonomous navigation and control decision. This paper introduces two algorithms:Filter based on Bayes and Smoothing based on graph- based,reviews the basic framework and the key technologies,and elaborates the various forms of achieving. After that,the paper analyzes the performance of these algorithms,and lists the advantages and disadvantages,as well as the way of dealing with difficulties. Finally,the potential future issues and research trends are also explored.