救援机器人导航技术研究现状与展望  

Research status and prospect of rescue robot navigation technology

作　　者：程浩 门玉涛[1,2] 张文昌 吴航 陈炜[1,2] 张晓涛 CHENG Hao;MEN Yu-tao;ZHANG Wen-chang;WU Hang;CHEN Wei;ZHANG Xiao-tao(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China;Institute of Medical Support Technology,Academy of System Engineering of Academy of Military Science of the Chinese PLA,Tianjin 300161,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384 [3]军事科学院系统工程研究院卫勤保障技术研究所,天津300161

出　　处：《医疗卫生装备》2022年第9期82-90,96,共10页Chinese Medical Equipment Journal

基　　金：天津市科技计划项目(19YFZCSN01150);军内科研重点项目(JK20191A010024);天津市自然科学基金重点项目(18JCYBJC95200)。

摘　　要：介绍了救援机器人导航技术的基本原理,对国内外救援机器人的定位、地图构建以及避障和路径规划等关键技术进行了综合分析。展望了救援机器人在多传感器感知、混合地图构建以及路径规划算法融合3个方面的发展方向,最后指出了当前救援机器人导航技术面临的挑战和发展趋势,为救援机器人导航技术研究提供了参考。The basic principles of rescue robot navigation technology were introduced,and the key technologies of localization,mapping and obstacle avoidance and path planning of rescue robots in foreign countries and China were analyzed comprehensively.The development directions of rescue robots were indicated in three aspects of multi-sensor perception,hybrid mapping and path planning algorithm fusion.The challenges and development trend of the rescue robot navigation technology were pointed out.References were provided for the researches on rescue robot navigation technology.

关 键 词：救援机器人 导航 定位 地图构建 避障 路径规划 

分 类 号：R318[医药卫生—生物医学工程] TP242[医药卫生—基础医学]