本文为德国斯图加特大学（作者：Daniel Estler）的学士论文，共55页。

本文通过一个实例说明了基于同步定位与建图（SLAM）方法生成的地图如何用于路径规划和路径优化。为此，讨论了SLAM问题的求解方法，并描述了由此产生的映射的性质。此外，还讨论了路径规划和优化的原理。以TurtleBot为例，说明了在路径规划中适当处理基于SLAM的地图特性的可能性。特别需要注意k阶马尔可夫优化，可用于平滑路径。

This thesis illustrates based on apractical example how maps that result from simultaneous localization andmapping (SLAM) methods can be used for path planning and path optimization. Inorder to do so approaches to solve the SLAM problem are discussed and theproperties of resulting maps are described. Furthermore the principles of pathplanning and optimization are addressed. By means of the TurtleBot as exampleof a mobile robot a possibility to appropriately deal with the properties ofSLAM-based maps in path planning will be showed. Special attention will be paidto k-order Markov optimization, which is used to smoothen the paths.

1. 引言

2. 同时定位与建图SLAM

3. 路径规划与优化

4. TurtleBot小型机器人

5. 从已知环境到期望的路径

6. 讨论

附录 KOMO框架下使用的参数

更多精彩文章请关注公众号：