Abstract:

Aiming at the problem that the control law and motion path must be produced synchronously in the process of simultaneous localization and mapping (SLAM) in unknown environment. A new SLAM algorithm combining rolling windows and behavioral dynamics is presented. Velocity and navigation angle are calculated by behavioral dynamics, and the control law of robot motion is determined. According to the information of rolling windows, the task of SLAM is fulfilled and an available path is also planned in the rolling window. The rolling window map is integrated into the global map, the overall situation SLAM is complied. Simulation results show that, in the case of setting of single or multiple target point flexibly according to the robot task, the robot can complete the task of SLAM effectively with the proposed algorithm in the process of voluntary movement.The relevant performance indicators prove the effectiveness of the algorithm.