面向室内环境的地面移动机器人导航关键技术研究与实现

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1、分类号TP302学号14060046UDC004.2密级公开工学硕士学位论文㘇㼓㬳㚻⿘㈔⭥⭹㘇䄧Ⱀ〛㡘㦬⭝⼞⹹ポゝ㭖䁱㈠䈌㬖㻷硕士生姓名田瑜学科专业计算机科学与技术研究方向机器人操作系统指导教师杨学军教授⺛ⳡ㋧䁈ゝ㭖⫔䁈䁱㈠㪛䊛ⱟ∷䄜㒚㛋㬏ⱟ䊣ResearchandImplementationofKeyTechnologiesofGroundMobileRobotNavigationinIndoorEnvironmentsCandidate:TianYuAdvisor:ProfessorYangXuejunAdisser

2、tationSubmittedinpartialfulfillmentoftherequirementsforthedegreeofMasterofEngineeringinComputerScienceandTechnologyGraduateSchoolofNationalUniversityofDefenseTechnologyChangsha,Hunan,P.R.ChinaDecember2,2016国防科学技术大学研究生院硕士学位论文目录摘要...................................

3、.....................................................................................iABSTRACT...............................................................................................................ii第一章绪论...................................................

4、.........................................................11.1课题研究背景及意义...............................................................................11.1.1课题研究背景................................................................................11.1.2课题研究意义..........

5、......................................................................21.2相关研究工作...........................................................................................31.2.1面向移动机器人的环境表示方法................................................31.2.2同步定位与建图...........

6、.................................................................51.2.3移动机器人导航............................................................................71.3论文的主要工作和创新点.......................................................................101.3.1主要工作............

7、............................................................................101.3.2创新点............................................................................................111.4论文的组织结构.........................................................................

8、..............12第二章室内三维环境高效表示方法的设计与实现............................................142.1多层占有栅格（M-LOG）表示方法......................................................14