【摘要】 结合防化侦察机器人的研制,分析了半自主侦察机器人的功能需求和移动平台、感知系统、电子系统、人机交互系统等主要功能部件的作用,设计了一个层次式的、具有模块化、网络化、局部智能等特点的电子系统硬件结构,提出了融合层次式控制体系和基于行为的控制体系优点的混合式半自主侦察机器人体系结构,最后讨论了当前半自主侦察机器人在车体结构、智能行为、基于信息融合的环境感知和运动控制、导航、人机接口等方面的研究内容。更多还原

【Abstract】 With the research of reconnaissance robot respond to incidents involving hazardous materials,the functional requirements of semi-autonomous reconnaissance robot together with the major components ’roles such as mobile platform,sensors,electronics subsystem,human-robot interaction system were analyzed in detail.Then a layered hardware structure with a few characteristics of modularization,network connection between modules,local intelligent,was described.A hybrid control architecture,which combined the key features of hierarchical and behavior-based architecture,was proposed in succession.Furthermore,several research themes or key development issues about the semi-autonomous reconnais-sance robot,including mobile vehicle structure,intelligent behaviors,sensors fusion for surroundings sensing and movement control,localization and navigation,human-robot interface,etc.were discussed.更多还原