Indoor real-time laser SLAM control method based on biological excitation neural network

Summary: TraditionalRBPF(Rao-Blackwellised particle filter)-SLAM(simultaneous localization and mapping) In the process of robot indoor navigation, the accumulative error caused by the odometer reading greatly reduces the accuracy of robot positioning and mapping, and the traditional path planning method is suddenlyThe dynamic obstacle avoidance effect in the development environment is poor and the real-time performance is low..In response to this problem, proposed a biologically inspired neural network (biological inspired neural network,biological inspired neural network,span>BINN) indoor real-time laserSLAM