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[14] TIM B,JUAN N,EDUARDO N. Consistency of the FastSLAM algorithm[ C]//Proceedings of IEEE Interna￾ional Conference on Robotics and Automation. Orlando, USA: IEEE Computer Society,2006: 424-429. 10] JI X C,ZHENG Z Q. Analysis and Control of Robot Posi￾tion Error in SLAM[J] . Acta Automatica Sinica,2008,34 (3) :323-331 ·138· 智 能 系 统 学 报 [12] WANG C C,THORPE C,THRUN S. Online simultaneous localization and mapping with detection and tracking of moving objects: theory and results from a ground vehicle in crowded urban areas[ C]//Proceedings of the IEEE Inter￾national Conference on Robotics and Automation. Tapei, China: IEEE Computer Society,2003: 孙继银,男,1952年生,教授、博士 生导师,中国计算机学会高级会员,中 国计算机用户协会理事.全军先进教 育工作者,多项科研成果获全军科技 进步奖.发表学术论文70余篇. 842-849. [5] SMITH R,SELF M,CHEESEMAN P. A stochastic map for uncertain spatial relationships[C]//Proceedings of In￾ternational Symposium of Robotics Research. Santa Cruz, 1987: 467-474. [4] CHATILA R,LAUMOND J P. Position referencing and con￾sistent world modeling for mobile robots[ C] //Procedings of IEEE International Conference on Robotics and Automa￾tion. St Louis: IEEE Computer Society,1985: 138-145. 伍 明,男,1981年生,博士研究 生,主要研究方向为智能移动机器人技 术、多机器人协作. 6] 谢黎明,查富生,李国慧,杨建军.在未知环境中作业移 动机器人的定位算法[J].电机与控制学报,2005,9 (5) : 428431. XIE Liming,ZHA Fusheng,LI Guohui,YANG Jianjun. Localization algorithm of mobile robot in an unknown condi￾ion[J] . Electric Machines and Control,2005,9(5) : 428-431. 889-916. [7] MONTEMERLO M,THUN S,KOLLER D,WEGBREIT B. FastSLAM: a factored solution to simultaneous mapping and localization[ C] //Proceedings of the National Conference on Artificial Intelligence. Edmonton, Canada: The AAAI Press,2002: 593-598 [9] HAHNEL D,WEGBREIT B,FOX D,THUN S.An eff￾cient fastSLAM algorithm for generating maps of large-scale yclic environments from raw laser range measurements [C] //Proceedings of IEEE/RSJ Intemnational Conference on Intelligent Robots and Systems. 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