基于AH P-模糊综合评价法的轮履复合型搜索机器人性能评价及其软件开发

针对中国在地震搜救机器人评价方面的研究尚浅，首先，介绍轮履复合型搜索机器人的运动模式，构建了一套性能评价指标体系，并制定了指标的详细测试标准，为实际测试提供参考依据。其次，根据指标多层次、多因素且定量与定性相结合的特点，提出应用AHP-模糊综合评价法对轮履复合型搜索机器人评价。第三，基于构建的性能评价指标体系与AHP-模糊综合评价法，提出了一套完整的轮履复合型搜索机器人的综合评价体系。第四，基于该评价体系开发了一套用于轮履复合型机器人性能评价的软件。该软件可管理机器人数据、专家数据、指标体系和评价标准，并可根据专家打分和实测数据得出评价结果。最后，通过实例验证了该评价体系和软件的有效性。结果表明：该轮履复合型搜索机器人的综合性能处于中等水平。

Performance Evaluation for Search Robots With Wheel-Track Based on AHP-Fuzzy Comprehensive Evaluation and Development of Evaluation Software

Currently, there is no integrated research in evaluation of earthquake search robots in China. Therefore, the evaluation of earthquake search robots is systematically studied in this paper. First, motion patterns of the search robots with wheel-track were introduced, a performance evaluation index system was established for the search robots with wheel-track, and a testing standard for each index was constructed to provide a useful reference for actual tests. Second, due to the multiple levels, multiple factors, and the combination of quantitative and qualitative indices characteristics of the index system, AHP-Fuzzy comprehensive evaluation could be applied to evaluate performance of the search robots with wheel-track. Third, an evaluation system for search robots with wheel-track was proposed based on the performance evaluation index system and AHP-Fuzzy comprehensive evaluation method. Fourth, software was developed according to this evaluation system. This software could manage robotic information, experts’ information, the evaluation index system and the evaluation index table. Besides, the evaluation results could be calculated by this software based on the scores given by experts and the measured data. Finally, the effectiveness of the evaluation system and software could be proven by an example. Result shows that the comprehensive performance of search robots with wheel-track is middle level.