室内智能服务机器人自主定位与导航性能测试技术研究  

Research on Performance Testing Technology of Autonomous Localization and Navigation for Indoor Intelligent Service Robot

作　　者：邢军 李岳洪 吴旻 陈启彩 胡恒莹 周锋华 

机构地区：[1]威凯检测技术有限公司,广州510663

出　　处：《日用电器》2023年第3期11-19,23,共10页ELECTRICAL APPLIANCES

摘　　要：智能服务机器人之所以能够在所处场景环境从任意位置开始,并能够实现自主移动、自主路径规划和规避障碍物功能,离不开其自身的自主定位与导航能力。本文以送餐等配送类智能服务机器人为研究对象,研究该类移动服务机器人的典型运动学模型、自主定位与导航技术,并重点分析研究其室内场景的自主定位与导航能力性能测试方法及计算模型,进而开发了服务机器人性能测试系统,实现对服务机器人自主定位和导航能力性能的测试,最后通过测试数据分析,验证了测试系统的实用性和有效性。本测试系统为服务机器人的定位与导航性能测试提供了解决方法和检测工具。The reason why the intelligent service robot can start from any position in the scene environment and realize the functions of autonomous mobile,path planning and obstacle avoidance depends on its own autonomous localization and navigation capabilities.In this paper,the typical kinematics model,autonomous localization and navigation technology of intelligent service robots such as meal delivery service robot are studied,and the testing methods and calculation models of their indoor scenes for autonomous localization and navigation capabilities are emphatically analyzed.Then,the service robot performance testing system is developed to test the service robots for autonomous localization and navigation capabilities.Finally,the practicability and effectiveness of the testing system are verified by the analysis of the test data.This test system provides solutions and testing tools for the performance test of positioning and navigation of service robots.

关 键 词：智能服务机器人 室内场景 自主移动 路径规划 定位 导航 性能测试 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]