基于ROS的自主跟随式医疗辅助机器人设计  

Design of Autonomous Follow-Up Medical Assistance Robot Based on ROS

作　　者：张茜 郭博雨 ZHANG Xi;GUO Boyu(Hebei Vocational University of Industry and Technology,Shijiazhuang,Hebei 050091,China;College of Mechanical and Energy Engineering,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]河北工业职业技术大学,河北石家庄050091 [2]北京工业大学机械与能源工程学院,北京100124

出　　处：《自动化应用》2025年第6期28-29,32,共3页Automation Application

基　　金：河北省教育厅科学研究项目资助(ZC2024081)。

摘　　要：随着智能化的快速发展,医疗行业对无接触跟随式机器人的需求不断增长。为提升跟随式机器人在复杂环境中的响应时间和跟随效率,提出了一种基于机器人操作系统(ROS)并融合了交互式多模型算法(IMM)的设计方案。通过硬件部分设计和软件系统搭建,结合多个运动学模型来完成目标跟随。利用贝叶斯估计对模型进行实时更新,可提高系统对不确定环境的适应性和决策的准确性。With the rapid advancement of intelligence,the demand for contactless follow-up robots in the medical industry continues to grow.To enhance the response time and following efficiency of follow-up robots in complex environments,a design scheme based on the Robot Operating System(ROS)and integrated with the Interacting Multiple Model(IMM)algorithm is proposed.Through the design of the hardware component and the establishment of the software system,multiple kinematic models are combined to accomplish target following.Utilizing Bayesian estimation for real-time model updating can improve the system's adaptability to uncertain environments and the accuracy of decision-making.

关 键 词：交互式多模型算法 机器人操作系统 跟随式机器人 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]