排爆机器人的研究现状及其关键技术  

Research Progress and Key Techniques of Explosive Ordnance Disposal Robot

作　　者：范路桥[1] 姚锡凡[1] 祁亨年[1] 杨武[1] 蒋梁中[1] 

机构地区：[1]华南理工大学排爆机器人研究室

出　　处：《机床与液压》2008年第6期139-143,共5页Machine Tool & Hydraulics

基　　金：广东省科技计划项目(2004A10403006);中国博士后科学基金项目(20060400217);华南理工大学高水平大学建设重点项目(B01-D7041010)

摘　　要：综述了排爆机器人的国内外研究现状,介绍了排爆机器人的移动机构、基于计算机视觉的精确定位、导航、定位和路径规划、通讯和控制系统、多传感器信息融合等关键技术;并指出了此领域中存在的问题,提出了排爆机器人在标准化、模块化、控制系统智能化、通讯系统网络化等方面的发展趋势,为它的进一步设计与开发提供了一些有用的信息。The research status of explosive ordnance disposal （EOD） robot at home and abroad was summarized. Its main techniques were introduced, such as mobile configuration, locating accurately based on computer vision, navigation, path planning, communication system, control technique and multi-sensor information fusion. Problems in this field were pointed out. Its developing trends in the future such as standardization, modularization, intelligentization of control system and networkization of communication system were put forward. Some information and references were provided to the design and development of EOD robot.

关 键 词：排爆机器人 智能机器人 计算机视觉 智能控制 反恐 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]