The invention discloses a
robot autonomous navigation method based on heading-assisting distributed type SLAM (
Simultaneous Localization and Mapping) and belongs to the field of
robot autonomous navigation. According to the method disclosed by the invention, aiming at combining characteristics of a
robot movement model and an observation model, factors which have relatively great influences on
system performances, including calculation quantity and the like of particle filtering and expanded Kalman filtering, are compared respectively under a framework of distributed type filtering operation, and requirements on the calculation quantity in a real-
time system are considered; a filter is designed by adopting a distributed type
EKF algorithm, but not adopting a PF
algorithm; and in order to guarantee the
observability of the
system at the same time, a magnetic
compass is introduced to be used as an auxiliary sensor except that a traditional
speedometer and a
laser sensor are used as a sensor combination scheme, so that navigation information of a robot is added into the
system. The design disclosed by the invention aims at the observation model of the distributed type filtering structure, and a filtering method is planned again through introducing the navigation information, so that the robot autonomous navigation aim is realized and the stability and precision of the system are improved.