Analysis and Control of Robot Position Error in SLAM

摘要

The simultaneous localization and mapping(SLAM)problem is one of the key problems for mobile robots to be completely autonomous in unknown environments.The robot position estimation is very important to the consistency of SLAM.This paper presents an analysis of the convergence properties of the robot position error.It is found that as a whole,the robot position error increases with the movement of the robot.Based on theoretical analysis,an algorithm is designed to control the increasing speed of the robot position error.This algorithm searches for the best speed of the robot that satisfies the limitation to the robot position error increasing.