移動機器人SLAM仿真平臺及聲納數(shù)據關聯(lián).pdf

1、中國海洋大學碩士學位論文移動機器人SLAM仿真平臺及聲納數(shù)據關聯(lián)姓名：劉保龍申請學位級別：碩士專業(yè)：信號與信息處理指導教師：何波20070601巾嘲坶洋大學碩士學位論文ASimuIationPIatformandSonarDataAssociationAIgorithmsforMobi10RobotSimuItaneousLocaIizationandMappingAbstractThisthesisaddressestheissues

2、ofthesimulationplatformandsonardataassociationalgorithmsformobilerobotsimultaneouslocalizationandmapping(SLAM)TheSLAMproblemisstatedasfollows：startingfromanunknowninitiallocationinanUlLlGIownenvironment，anautonomousmobil

3、erobottravelsthroughasequenceofpositionsandobtainsasetof∞nsormeasurementsateachpositionThegoalisforthemobilerobottoprocessthesensordatatoproduceanestimateoftheenvironmentwhileconcurrentlylocalizingitspositionAsolutiontot

4、heSLAMproblemisofkeyimportanceformobilerobots’trulyautonomyTheSLAMproblemhasbeenapopularopentopicinthefieldofmobileroboticssince1987Aclassicalsolutionconsistentstochasticmappingusingsequencesoflocalmaps，totheSLAMproblemi

5、spresentedanddiseasedinthisthesisThismethodadoptsaperceptualgroupingprocessthatpermitstherobustidentificationandlocalizationofenvironmentalfeatures，suchasstraightsegmentsandcornersItalsomakesuseofamapjoiningtechniqueanda

6、robustmechanismtodeterminewhichfeaturesinastochasticmapcorrespondtothesameenvironmentalfeatureAsireulationplatformwouldmaketheresearchofSLAMmoreconvementSeverallaserbasedSLAMplatformsweredevelopedbysomeresearchersHowever

7、simulationplatformsforsonarbasedmobilerobothaveneverbeenintroducedThisthesispre辯ntsasimulationplatformnamelyS4MRinaformofmatlabtoolboxforsonarbasedmobilerobotSensormodelswithtunableparameterswereestablishedbyinterpreting

8、andsimulatingthemechanismofencoder，digitalcompass，andpolaroid6500sonarThesesensorsprovidetheinformationofrobotposeandenvironmentsTherobotofS4MR，equippedwithsensor，couldmovethroughthestaticenvironmentwithseveralpeoplemovi