：以matlab工具箱的形式给出了静态及动态未知环境下移动机器人地图构建的仿真研究平

台。通过分析polaroid6500声纳、电子罗盘、编码器等传感器的工作原理建立了参数可调的传感器

模型。这些传感器为机器人提供位姿及环境信息。在分析已有基于hough变换的线段提取算法的基

础上提出了抑止。杂线段。现象的CIHT[Clus~r Inhibiting Hough Transform]算法．采用cIHT

对声蚋信息作环境特征提取，便于开展基于环境特征的未知环境地图构建算法方面的研究工作。-Abstract：A simulation system ofmapping for sonar-based mobile robot was developed易0 in static and dynamic unknown

environments in a foFin ofmatlab toolbox．Sensor models with tunable parameters were established by interpreting and

simulating the mechanism of encoder。digital compass．and polaroid 6500 sonar．These sensors provide the information of

robot pose and environments．A novel C1HT[Cluster Inhibiting Hough Transfo删J algorithmfor sonar data was proposed by

ana~zing existing line segments detection methods based on Hough Transform，which would make the research of

feature—based mapping of unknown environment more convenient．