Method for realizing localization and map building of mobile robot at the same time

摘要: The invention discloses a method for realizing localization and map building of mobile robot at the same time. sensor data road sign observation are supposed by using navigation position in an unknown environment, self is realized improved strong tracking filtering technique, meanwhile environment built. TheKalman gain adaptively adjusted ''strong filter''; new multi fading factor introduced to ensure symmetry covariance matrix lower computational complexity Kalman gain; problem on discontinuous time, algorithm process proposed, calculation given. Compared with traditional method, reduces error caused linear process, improves locating accuracy robot, also can make inhibited smaller range improve reliability building.