建筑设施巡检机器人自主导航算法与应用研究

Research on Autonomous Navigation Algorithm and Application of Building Facility Inspection Robot

建筑设施巡检机器人,作为一种在建筑领域应用的智能移动机器人,旨在代替人工日常巡检,实现无人化。移动机器人要实现自主导航,需具备实时获得自身运动状态和感知周围动态环境,并在复杂环境中自主定位、规划、移动的能力。本文对常见的自主导航算法和系统进行了分析与研究,总结存在的问题。

The construction facility inspection robot,as an intelligent mobile robot applied in the construction field,aims to replace the manual daily inspection and realize unmanned system.To achieve autonomous navigation,mobile robots need to be able to obtain their own motion state in real time,perceive the surrounding dynamic environment,and independently locate,plan,and move in complex environments.This paper analyzes and studies the common autonomous navigation algorithms and systems,and summarizes the existing problems.