中文摘要：

为了解决超声波传感器在感知环境的过程中的不确定性问题和在定位过程中存在的噪音,以Pioneer 3-AT机器人为实验平台,运用概率算法解决对象本身和对象之间的不确定性关系,理出各种算法之间的内在联系,对移动机器人的定位算法作了相关分析与研究,并利用Mobilesim平台在自建的现场全局地图上进行实验。实验表明：使用改进蒙特—卡罗算法的移动机器人有着较好的定位效果,能够满足实用要求。

英文摘要：

In order to solve the problem of uncertainty of information from the ultrasonic wave sensor in the process of sensing environment and noise in the localization procedure,Pioneer 3-AT robot is used as experimental platform,probabilistic algorithms are used to solve the uncertain relationships between the object itself and between the objects,the intrinsic connection between the various algorithms is sorted,and related analysis and research on localization algorithms of mobile robot are carried out.Some experiments have been carried out in self-built site global map on the Mobilesim platform.Experimental results show that the mobile robot using modified Monte-Carlo algorithm has good positioning effect,and can meet practical requirements.