Research on Mobile Robot EKF SLAM Based on Ultrasonic Range Finding Feature Extraction
Liangliang Fu · OME Information · 2010
Considering the characteristics of ultrasonic range finding sensor,a line model based on many measurements was presented which was applicable to indoor circumstance.The type of structural features was estimated,and the position parameters of features were obtained through calculating.Both range and bearing measurements were realized by ultrasonic range finding sensor at the same time.Through the program utilizing Matlab,the mobile robot EKFSLAM based on ultrasonic range finding feature extraction was simulated and verified,and the results of simulation were given.