针对特征点同时为障碍物的环境,提出一种基于势场路径规划的同步定位与地图构建算法.机器人在同步定位与地图构建的同时,利用势场原理确定机器人的运动控制律,再根据推算的控制律进行下一步的预测和状态估计.在基于势场的路径规划方法中,认定为障碍物的排斥势位的最小影响范围可调节.实验结果表明,利用所提出的算法,机器人可在特征点同时为障碍物的环境中进行同步定位与地图构建,并通过相关性能指标验证了该算法为一致性估计. Aiming at the characteristics of obstacle and feature point, an algorithm of synchronization and map building based on path planning of potential field is proposed.Meanwhile, the robot locates the robot’s motion control law by using the principle of potential field simultaneously with simultaneous positioning and map construction, Of the control law for the next prediction and state estimation.In the potential field-based path planning method, the minimum influence range of the repulsive potential bit identified as obstacles can be adjusted.Experimental results show that using the proposed algorithm, the robot can be Simultaneously, the feature points are simultaneously located and constructed in the environment of the obstacle, and the correlation coefficient is used to verify the consistency of the algorithm.