一种同时定位与地图构建的仿真系统

基于近年来流行的移动机器人同时定位与地图构建的方法，提出了一种仿真系统，详细地描述了系统的定义模型结构和运行方式流程。系统中采用了一种基于线性特征的环境地图描述方法。仿真系统中算法设计独立，扩充性好，仿真功能强大，方便了机器人定位算法的研究，为算法的实际运用奠定了基础。
关键词：SLAM; 特征提取; 扩展卡尔曼滤波; 数据关联; 面向对象
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