一種同時(shí)定位與地圖構(gòu)建的仿真系統(tǒng)

基于近年來流行的移動機(jī)器人同時(shí)定位與地圖構(gòu)建的方法，提出了一種仿真系統(tǒng)，詳細(xì)地描述了系統(tǒng)的定義模型結(jié)構(gòu)和運(yùn)行方式流程。系統(tǒng)中采用了一種基于線性特征的環(huán)境地圖描述方法。仿真系統(tǒng)中算法設(shè)計(jì)獨(dú)立，擴(kuò)充性好，仿真功能強(qiáng)大，方便了機(jī)器人定位算法的研究，為算法的實(shí)際運(yùn)用奠定了基礎(chǔ)。
關(guān)鍵詞：SLAM; 特征提取; 擴(kuò)展卡爾曼濾波; 數(shù)據(jù)關(guān)聯(lián); 面向?qū)ο?BR>Abstract: According to the popular methods of simultaneous localization and map building for mobile robots in recent years, a simulation system is proposed. The system definition model structure and execute method are described in detail. A line-based representation of the environment is adopted. The design of algorithms in the system are independent, which make the system to be easily utilized in new algorithms. The strong functions of the simulation are to bring great convenience for the research in robot localization algorithms and establish the
foundation for the actual usage.
Keywords: SLAM; feature extraction; extended Kalman filter; data association; object-oriented