As the intelligent mobile robot gradually comes into people’s life, the needs of intelligent mobile robot is becoming more and more urgent to people and the research of mobile robot is coming into a new developing age. The process of mobile robot performing tasks can be looked as a series process of navigation and localization control. It is hard for robot to fulfill this kind of navigation and localization control process if there isn’t an environment map ready for using. Therefore, a good environment map is the key to ensure the mobile robot to implement the tasks. With the development of mobile robot, people has been no longer satisfying the traditional way of using the mobile robot which often offers an environment map built by mankind in advance for the mobile robot to use, but hope the mobile robot itself has the ability to build the map of environment in which it lies. As this need emerges people are paying more attention to the technology of building the environment map for mobile robot, moreover, the development of this technology are being looked as the key to realize the genuine autonomous mobile robot. The key technologies in building a map of corridor environment by mobile robot are discussed in detail in this thesis. The main contents of this thesis are listed below: (1) Both the development and the application of mobile robot are retrospected and prospected. Moreover, the meaning and value of simultaneous localization and map building for mobile robot are also addressed. (2) The mainstream mobile robot simultaneous localization and map building algorithms are analyzed in detail, the principles of different kinds of map building algorithm are derived clearly and both the advantages and disadvantages of these algorithms are summarized. In addition, the relations of these mainstream algorithms are analyzed. (3) A special two-step particle filter algorithm is provided to solve the map building problems in the corridor environment. The characteristics of the corridor environment are taken into consideration, and in this way building a corridor environment map can be realized without the need to change the environment itself by mankind in advance. (4) A special FRT exploration approach is provided based on the multi-sensors information fusion approach and the fruits of the previous researchers. This FRT exploration approach has the traits of repetition, depth-first search and the ability to explore the entire unknown environment. (5) A new distributed master/slave control architecture is presented and a special mobile robot‘s sensors configuration suited for the map building task in a corridor environment is designed. In addition, the kinematic model and measurement model are achieved in practical experiment and some of the disign methods of key techniques are also introduced. (6) Finally, the obtained research results are summarized and future work is addressed.
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