四足机器人野外导航关键技术研究进展  

Key technologies for quadruped robot field navigation

作　　者：张勤[1,2] 李岳炀[1] 赵钦君[1] ZHANG Qin LI Yueyang ZHAO Qinjun(School of Electrical Engineering, University of Jinan, Jinan 250022, China School of Control Science and Engineering, Shandong University, Jinan 250014, China)

机构地区：[1]济南大学自动化与电气工程学院,山东济南250022 [2]山东大学控制科学与工程学院,山东济南250014

出　　处：《济南大学学报（自然科学版）》2016年第5期391-396,共6页Journal of University of Jinan(Science and Technology)

基　　金：国家自然科学基金(61503153);山东省自然科学基金(ZR2014FP009);济南大学博士基金(XBS1352)

摘　　要：综述国内外四足机器人野外导航技术的研究现状和发展趋势;从当前国内外最具代表性的四足机器人平台入手,从场景三维重建、复杂地形识别和可通过性评价3个方面对野外环境下四足机器人导航的关键技术进行剖析;总结了目前四足机器人野外导航研究中存在的技术难点,如复杂环境信息获取的准确性、视觉/深度数据处理的实时性和决策规划的智能性、稳定性问题;指出应进一步将大范围环境感知、模型重构和地形识别作为技术手段,针对复杂野外环境下可通过区域的识别及其安全性评价进行研究,以提高其野外工作的自主性。The research status and development trends of field navigation of quadruped robots were reviewed. Starting from the most representative quadruped robots at home and abroad, the key technologies of quadruped robots from three aspects of 3D scene reconstruction, complex terrain identification and the evaluation of traversability were analyzed, and the existing key technical issues of field navigation of quadruped robot, including the accuracy of environment information acquisition, real-time data processing of vision/depth and the intelligence/stability of decision planning were summarized. It is pointed out that wide scene reconstruction and terrain recognition should be used as a technical means and the identification of traversability and safety assessment in complex outdoor environment should be further studied in order to improve the autonomy of field work.

关 键 词：四足机器人 场景三维重建 地形识别 可通过性评价 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]