自主移动机器人导航与定位性能测试设备研究  

Research on the equipment for test of an autonomous robot's navigation and positioning performance

作　　者：周维[1,2] 李斌[1] 张国伟[1,2] 刘鹏[1] 郑怀兵[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院大学,北京100049

出　　处：《高技术通讯》2014年第7期752-758,共7页Chinese High Technology Letters

基　　金：863计划(2012AA041505)资助项目

摘　　要：进行了基于轨迹分析方法测试自主移动机器人自主导航能力的研究,成功研制出了一种基于高精度GPS系统的机器人导航与定位性能测试仪器。从理论上论证了这一导航性能测试装备的软硬件设计、数据处理方法和导航测试指标的研究,并通过实验验证了该设备自身定位的精确性以及对实验机器人进行快速自主导航性能测试的能力。A study on measurement and test of the autonomous navigation and positioning capabilities of an autonomous mobile robot was performed based on the trajectory analysis, and a kind of equipment for test of a mobile robot＇ s autonomous navigation and positioning performance based on high-precision GPS systems was designed and imple-mented successfully. The device＇ s hardware and software design, data processing methods, and navigation test indicators＇ determination were expounded theoretically, and the device＇s localization accuracy for itself, and quick testing ability for an experimental robot＇ s autonomous navigation performance were verified by experiment.

关 键 词：自主移动机器人 轨迹分析 自主导航 性能测试 测试装备 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]