测量机器人的关键技术  

Surveying robot and its key technology

作　　者：闫利[1] 陈宇 谢洪[1] 戴集成 赵英豪 胡啸 李瑶 赵玏洋 王月琴 YAN Li;CHEN Yu;XIE Hong;DAI Jicheng;ZHAO Yinghao;HU Xiao;LI Yao;ZHAO Leyang;WANG Yueqin(School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China;Wuhan Natural Resources and Planning Information Center, Wuhan 430014, China)

机构地区：[1]武汉大学测绘学院,湖北武汉430079 [2]武汉市自然资源和规划信息中心,湖北武汉430014

出　　处：《测绘学报》2021年第9期1159-1169,共11页Acta Geodaetica et Cartographica Sinica

基　　金：国家自然科学基金(41771486)。

摘　　要：本文提出了测量机器人概念,重点分析了测量机器人的组成框架及关键技术,聚焦定位与建图、场景感知、路径规划及多机协同等测量机器人前沿研究领域,综述了最新研究进展,并剖析了当前面临的技术难题,简述了测量机器人的发展机遇。This paper proposes the concept of surveying robot,focuses on analyzing the framework and key technologies of the surveying robot,covers the cutting-edge research fields of surveying robots such as positioning and mapping,scene perception,path planning,and multi-machine collaboration.This paper also summarizes the latest research progress,analyzes the current technical problems and describes the development opportunities of surveying robot.

关 键 词：测量机器人 自主导航 定位与建图 场景感知 路径规划 多机协同 

分 类 号：P227[天文地球—大地测量学与测量工程]