移动机器人的同时定位和地图构建

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1、浙江大学博士学位论文移动机器人的同时定位和地图构建姓名：徐则中申请学位级别：博士专业：通信与信息系统指导教师：刘济林20041101塑垩查堂堕主兰壁熊兰——波，协方差交叉，数据融合，数据关联。H浙江大学博士学位论文ABSTRACTAutonomOUSsystemisrequiredincreasinglyinthefieldsofindustry,agriculture，scientificresearchandnationaldefencealongwiththedevelopmentofinformationtechnology．Moreandm

2、oreresearch{sfocusedonrobotandrobotizationRobotCompanyandresearchiustitutearedevelopingvariousservicerobotstoworkinsteadofhumananddevelopingautonomouslandvehicleforthesakeofsa地driveormilitaryaffairs．Accordingtowerkingenvironment．itCallbeclassifiedintoindoormobilerobotandout&mra

3、t．1tonomouslandvehidefAt．vIAutononlousnavigationisnecessary,andlocalizationisafimdamentalproblemforalltonomousnavigation，andmodemiocatizationmefllf斌isbasedonenvlmnmentmapwi如interoceptiveandexteroceptivesensonT撕sdissertationisfocusedonenvironmentmapbuilding，mobilerobotlocalizati

4、on，simultaneouslocalizationandmapbuilding．ExcitingresuRsareachieved．Thefirstsubjectofthisdissertation{sfoerased-onenvironmentmapbuildingfor{ndoorenvironmentandoutdoorenvironment．Tobuildindoorenvironmentmap，adaptivesegmentationandweightedstochasticmeanarcusedbecansethesamplepoin

5、tsarenotdistributinguniformly，Linesegmentsareextractedfromthesesamplingpointsandareused招approximatetheshapeofrealenvironmentobjects。Theenvironmentmapiscalledordinalmapifordinalrelationshipbetweenlinesegmentsandcharacteristicpointsisretainedwhilemerginglocalmapsintoglobalmap，‰bu

6、ildoutdoorenvironmentmap，anapproachbasedstochasticdensityispmpozedforobstacledetectionontheroadandcrosscountry．Itisalsousedtoextractenvironmentlandfeatureandbuildlocalmapthatconsistoftreesbesideroad．Two即eapproachesbasedrespectivelyonassumptionofindependenceandassgmptionofcorrel

7、ationareused协mergelocalmapsintoglobalmap．The2DroadenvironmentmapisrepresentedwiththeCoordinatesoftreesandthe3Doff-roadenv珏olmlantmapisrepresentedwithgrids+Thesecondsubjectofthisdissertationis如cosedonmobilerobotlocalization．Amatchingmethodbasedonordinalmapandrelativerelationship

8、isproposedtolocatemobfierobotunderglobaluncertainty．Gl