【摘要】 介绍了利用具有避碰能力的水下智能机器人进行环境标图的方法。在论述了水下机器人的避碰策略之后，详细讨论了利用避碰声纳的探测距离进行区分自由空间和障碍物的方法，根据探测结果用栅格法来描述机器人探测区域。采用图象处理技术，对标图的结果进行噪声消除、特征提取等处理，最终将障碍物的形状识别出来。文中给出了详细的仿真结果。更多还原

【Abstract】 The method for environmental map-building by using automatic underwater vehicle (AUV) with avoidance ability is presented.The method for distinguishing free space from obstacle by adopting avoiding sonar detective distance is discussed.An image-processing technique is taken to eliminate the noise and to extract the characters from mapping results.The shape of obstacle is finally identified and the detail simulation results are given.更多还原