野外自主移动智能机器人设计

Design of Field Autonomous Intelligent Mobile Robot

与服务机器人运行的结构化、静态的室内环境不同,随着人类探索未知领域、执行救援危险任务等需求出现,移动机器人不断向野外非结构化环境拓展,对机器人自主行为能力的要求也越来越高。本研究设计了一种野外自主智能移动机器人,能够在野外环境自主导航定位、自主运动规划控制。具备很强的野外环境适应能力,能够自主识别规避障碍物,在线路径动态规划。两个以上机器人还可以多机智能自主编队,形成一个机器人小组。本研究设计的野外自主智能移动机器人可推广应用于野外搜救、社区巡逻、交通疏导等多个方向,具有广泛的推广前景。

Different from the structured and static indoor environment in which the service robot operates,with the demands of human beings to explore unknown areas and perform rescue dangerous tasks, the mobile robot continues to expand to the unstructured environment in the wild field, and the requirements for the autonomous behavior ability of the robot are becoming higher and higher. In this paper, a kind of field autonomous intelligent mobile robot is designed, which can navigate and position autonomously in the field environment, and plan and control autonomously. It has strong adaptability to the field environment, can identify and avoid obstacles independently, and can dynamically plan feasible trajectories. More than two robots can operate as an intelligent autonomous robot team. The field autonomous intelligent mobile robot designed in this paper can be widely used in many aeras, such as field search and rescue, community patrol, traffic dredging etc.