中文摘要：

研究了移动机器人探索未知环境所面临的定位问题．针对在某些未知环境中难以可靠提取自然路标、并且存在数据关联难题的实际情况，提出了一种可以根据定位需要进行动态配置的路标系统，设计并实现了可以动态配置的路标、路标投放装置、路标探测装置，能够在探索未知环境的过程中动态在线配置路标以辅助完成机器人定位与对环境的探索．可动态配置路标具有成本低、体积小、能耗低的特点，便于携带与动态配置，实验结果证明了这种路标系统在未知环境探索中的有效性．

英文摘要：

The localization problem for robot exploring unknown environment is studied. Under some unknown environments, it is difficult to extract natural landmarks reliably, and the data association problem often occurs. So a novel landmark system that can be configured based on localization requirements is proposed. The configurable landmark, landmark cast device and landmark observation device are designed and implemented. When the robot exploring the unknown environment, it configures landmarks online and dynamically to assist localization and environment exploration. The configurable landmark is light, of low cost and energy saving, and so it is easy to be carried and configured dynamically. The proposed landmark system appears effective for unknown environment exploration in experiments.