以视觉传感为主的移动机器人定位导航和环境建模

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1、东南大学博士学位论文以视觉传感为主的移动机器人定位导航和环境建模姓名：尚文申请学位级别：博士专业：控制理论与控制工程指导教师：戴先中;马旭东20041230东南大学博士学位论文Abstractvision—basedMobileRobotNaVigationandEnVironmentalMOdehngPhDstud口t：Supervisors：Un．ve髓ity：SHANGWenProfessorDAIXi卸-z110ngProfessorMAXu—dongSoutheastUniwrsityPOHrerfuI印plicatio

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7、stheperfb啪anceofMarkov-EKFmethodwithIocaJizatiOnerrwcomp捌sonwIthMarkovmethOdgiven．InordertoimprovethelocalizationperfbrIIl卸ceinuncercainorun—modeledcondnions，aswe¨astoresOlvethebdnappedproblem，vi蚋on．basedextend酣MonteCarloalgorimmisproposed+Localiza_Iionexperimentsdemo

8、nstratetheabilitytodealw“htheun．modeledevents．on廿Ieotherh孤d，Environmen瑚modelingon-line—sLAM(SimultaneousLocalizationa11dMappin曲isa110tIlerimport锄tproblemformobilerobot．Ahybridhierarchicalm印pingmethodisproposedwhichmte罂mest0Pologicala11dfeature_b船edmetllodtoextendIOlar

9、：gescaIe锄dc”licenviro啪en忸，thusreducingtheco唧u协tioncomplexIty如dimpr0Vingtllepfecisionofenvironmentmodel．Experimentalresultsin