| 基于人机交互的移动服务机器人导航系统 |
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| 引用本文： | 黄志华,屠大维,赵其杰.基于人机交互的移动服务机器人导航系统[J].机器人,2009,31(3):1. |
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| 作者姓名： | 黄志华 屠大维 赵其杰 |
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| 作者单位： | 上海大学机电工程与自动化学院,上海,200072 |
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| 摘 要： | 针对目前全自主移动机器人尚难实现的问题，基于人机结合的思想研制了由操作者、人机交互平台和移动机器人组成的“人—机—环境”一体化移动机器人导航系统．介绍了该系统的结构组成，阐述了系统导航策略，详细分析了人机交互、人机协作、移动机器人位姿预测及基于扩展卡尔曼滤波的位姿校正方法．设计了导航系统界面，通过在室内真实环境下的导航实验，验证了该“人—机—环境”一体化移动机器人导航系统的有效性．
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| 关 键 词： | 人—机—环境 人机交互 移动机器人 导航 位姿校正 |
A Human-Robot-Interaction-Based Navigation System for Mobile Service Robot |
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| HUANG Zhi-hua,TU Da-wei,ZHAO Qi-jie.A Human-Robot-Interaction-Based Navigation System for Mobile Service Robot[J].Robot,2009,31(3):1. |
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| Authors: | HUANG Zhi-hua TU Da-wei ZHAO Qi-jie |
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| Affiliation: | College of Mechatronics Engineering and Automation;Shanghai University;Shanghai 200072;China |
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| Abstract: | Since it is difficult to construct a completely independent mobile robot at present,a"human-machineenvironment"integrated navigation system for mobile robot based on human-machine integration philosophy is proposed, which consists of an operator,a human-robot interaction platform and a mobile robot.The architecture and navigation strategy are introduced.Human-robot interaction and cooperation,pose prediction and pose regulation based on extended Kalman filter for the mobile robot are also analyzed in detail... |
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| Keywords: | human-machine-environment human-robot interaction mobile robot navigation pose regulation |
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