300160014003501200110006400本轮了日标区域800450600400500200050100150200250-63P8509009501000105011001150(a)(b)图4-11目标颜色直方图6目标估计轨迹a50=目标起点D4目标实际轨迹A/LandMarki32A机器人估计轨透经骨要1机器人实际轨迹标B0执器人起点州0123456789X/m(a)仿真总体图4.96A机器人轨迹估计B早期特征对应粒子分布4.950.125机器人估4.94粒子群分计轨迹0.12布集中4.930.115三4.92目0.114.910.105特征实际，4.90.1位置机器人实际轨迹4.890.0950.094.824.834.844.854.864.874.884.894.94.911.561.571.581.591.6X/mX/m3.895.3mC近期特征对应粒子分布D目标轨迹估计目标轨迹估计3.88点5.25是3.875.23.86粒子群分布分散特征实际、目标轨迹估计位置5.158.288.298.38.318.328.338.348.388.428.468.5X/mX/m(b)对应ABCD区域局部放大图图6-3 PF_SLAMOT仿真结果图
