基于声纳的移动机器人环境建模仿真平台的设计

利用Visual Basic建立了一个移动机器人环境建模的仿真平台，通过仿真声纳的数学模型，采用以概率论和Dempster-Shafer证据理论为基础的基于占有率的栅格地图创建方法，解释和融合仿真的声纳数据，建立环境的栅格地图。该仿真平台提供了环境和移动机器人运动状态在线实时设定功能，其参数可调的声纳模型及根据声纳数据进行环境建模的算法设计相对独立等特点极大地方便移动机器人环境建模的研究工作。

Simulation system design for sonar-based mobile robot mapping

A mobile robot mapping simulation system by Visual Basic was developed. With interpreting and fusing simulate data from a sonar mathematical model, a grid map of environment has been built increasingly using occupancy grid method based on probability theory and Dempster-Shafer evidence theory. The simulation system could set and modify environment model and movement status of mobile robot on line. The mathematical model of sonar that its parameters could be adjusted and the map building model are relatively independent in the system. The simulation system could make the research of mobile robot map building more convenient.