移动机器人定位导航性能评估标准现状分析  

Current Status Analysis of Evaluation Standards for Localization and Navigation Performance of Mobile Robots

作　　者：杨娜 陈国栋 李思衡 李汉舟 范丛明 吕刚 YANG Na;CHEN Guodong;LI Siheng;LI Hanzhou;FAN Congming;LYU Gang(Xi’an Aerospace Saineng Automation Technology Co.,Ltd,Xi’an 710100;Xi’an Quantum Intelligent Technology Co.,Ltd,Xi’an 710100;Shenzhen Artificial Intelligence Industry Association,Shenzhen 518000)

机构地区：[1]西安航天赛能自动化科技有限公司,西安710100 [2]西安量子智能科技有限公司,西安710100 [3]深圳市人工智能产业协会,深圳518000

出　　处：《导航与控制》2024年第3期84-96,共13页Navigation and Control

摘　　要：定位导航性能是移动机器人的核心能力,其评估标准对移动机器人技术和产业发展具有重要意义。本文调研了国内外移动机器人定位导航性能评估标准现状,从移动机器人定位性能、导航性能、避障能力等方面对9项国内外标准进行对比,针对各性能评估标准中测试性能的全面性、测试条件的通用性以及测试方法的可行性进行分析,为移动机器人性能评估与工程应用规范化等相关工作提供有益参考。The localization and navigation performance is the core capability of mobile robots,and its evaluation standards are of great significance for the development of mobile robot technology and industry.This article investigates the current status of performance evaluation standards for mobile robot localization and navigation at home and abroad.Nine domestic and international standards are compared from the aspects of mobile robot localization performance,navigation performance,obstacle avoidance ability,etc.The comprehensiveness of testing performance,universality of testing conditions,and feasibility of testing methods in each performance evaluation standard are analyzed,providing useful references for mobile robot performance evaluation and engineering application standardization.

关 键 词：移动机器人 定位导航 性能评估 标准 对比 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]