基于近年來流行的移動機器人同時定位與地圖構建的方法，提出了一種仿真系統，詳細地描述了系統的定義模型結構和運行方式流程。系統中采用了一種基于線性特征的環境地圖描述方法。仿真系統中算法設計獨立，擴充性好，仿真功能強大，方便了機器人定位算法的研究，為算法的實際運用奠定了基礎。
關鍵詞：SLAM; 特征提取; 擴展卡爾曼濾波; 數據關聯; 面向對象
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