Abstract:

The simultaneous localization and mapping (SLAM) of autonomous mobile robot is the key problem in the field of robot.The two major problems of SLAM are analyzed in this paper,which are the way to describe and process the uncertain information and the method of data association.The implementation methods of SLAM at present are introduced,including the two kinds of kalman filters,particle filter and vision-based SLAM.Finally,by analyzing the different features of each method,further research directions of SLAM are pointed out.

Key words: autonomous mobile robot;simultaneous localization and mapping;kalman filter