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標題: 改善〝EKF-SLAM〞之準確性與效率
Improving the accuracy and efficiency of EKF-SLAM
作者: 余俊瑩
Yu, Jiun-Ying
關鍵字: 行動型機器人
出版社: 資訊科學與工程學系所
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摘要: 機器人應用大略分工業性與服務性,如工業用機械手臂或者目前當紅的娛樂型機器人,為了能深入人類生活並且完成自主任務,以「智慧行動型機器人」為發展主流。 大部分行動型機器人都會面臨解決定位問題和描述環境地圖兩個大議題,目前以SLAM能同時解決兩大議題是相當熱門的研究方向,本文提出一種基於傳統EKF-SLAM方法,使用三角定位與臨界值法來增進行動型機器人定位的準確性與效率。
The applications of robots are roughly divided into industrial-oriented, such as robot arms, and service-oriented, such as entertainment robots. In order to complete autonomous tasks and integrate into human life , the“ smart mobile robots” are the mainstream in robot development. In most mobile robot systems, localization and map modelling are two important issues. They are the so-called SLAM (simultaneous localization and mapping) problem which is a very popular research topic. In this thesis we propose a new approach that use triangulation localization and threshold method for improving the accuracy and efficiency of EKF-SLAM.
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