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介绍了利用具有避碰能力的水下智能机器人进行环境标图的方法。在论述了水下机器人的避碰策略之后，详细讨论了利用避碰声纳的探测距离进行区分自由空间和障碍物的方法，根据探测结果用栅格法来描述机器人探测区域。采用图象处理技术，对标图的结果进行噪声消除、特征提取等处理，最终将障碍物的形状识别出来。文中给出了详细的仿真结果。
This paper introduces the method of environmental mapping using the underwater intelligent robot with collision avoidance ability. After discussing the anti-collision strategy of underwater robots, the method of distinguishing free space and obstacle by using the detection distance of collision avoidance sonar is discussed in detail. According to the detection results, the robot detection area is described by the grid method. Using image processing technology, the results of the map noise elimination, feature extraction and other processing, the final shape of the obstacle will be identified. The paper gives the detailed simulation results.