关键词: 自主移动机器人定位,扩展卡尔曼滤波,粗差,增益矩阵,抗差EKF

Abstract: The key problem of robot autonomous work is self-positioning.Kalman filter can be used to estimate the robot’s location.The model and key technology of SLAM was introduced at first in this paper.Then the theory of extendedKalman filter was given.By analyzing the effect of error to the standard EKF model’s result,the model of robust EKF was presented.This model implements an equivalent Kalman gain matrix built by introducing redundancy and predicates residuals.An iterative scheme was suggested for solving the SLAM robust EKF solution.At last,the standard EKF-SLAM model and the robust EKF-SLAM model were both actualized in programs.Autonomous robot’s moving trajectory was simulated in the program.Simulation results show that the suggested algorithm can give correct location results.

Key words: Autonomous robot positioning,EKF,Error,Gain matrix,Robust EKF