基于局部语义地图的移动机器人半自主导航

doi:10.1007/s12204-023-2678-8

J Shanghai Jiaotong Univ Sci ›› 2025, Vol. 30 ›› Issue (1): 27-33.doi: 10.1007/s12204-023-2678-8

• • 上一篇

基于局部语义地图的移动机器人半自主导航

赵艳飞1,2,3, 肖鹏4, 王景川1,2,3, 郭锐4

（1. 上海交通大学自动化系；医疗机器人研究所，上海 200240；2. 教育部系统控制与信息处理国家重点实验室，上海 200240；3. 上海工业智能管控工程技术研究中心，上海 200240； 4. 国网智能科技股份有限公司，济南 250013）

接受日期:2023-05-12 出版日期:2025-01-28 发布日期:2025-01-28

Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

ZHAO Yanfei^1，2，3(赵艳飞), XIAO Peng⁴ (肖鹏), WANG Jingchuan^1，2，3* (王景川), GUO Rui^4*(郭锐）

(1. Department of Automation; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China; 2. State Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China; 3. Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai 200240, China; 4. State Grid Intelligence Technology Co., Ltd., Jinan 250013, China)

Accepted:2023-05-12 Online:2025-01-28 Published:2025-01-28

摘要/Abstract

摘要： 以智能轮椅为代表的移动机器人可以帮助行动不便的老年人。本文提出了基于局部语义地图的移动机器人半自主导航系统，该系统可以帮助用户在无先验地图的环境中执行精确导航（例如对接）。为了克服传统局部路径规划算法在对接时出现反复震荡的问题，本文采取模式切换方法，在靠近语义目标的时候系统切换为反馈控制完成对接。最后，在真实的环境中进行了对比实验。结果表明：我们的方法在安全，舒适和对接精度上具有优越性。

关键词: 半自主导航，移动机器人，语义地图，语音交互

Abstract: Mobile robots represented by smart wheelchairs can assist elderly people with mobility difficulties. This paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots, which can assist users to implement accurate navigation (e.g., docking) in the environment without prior maps. In order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms, this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic goals. At last, comparative experiments were carried out in the real environment. Results show that our method is superior in terms of safety, comfort and docking accuracy.

Key words: semi-autonomous navigation, mobile robot, semantic map, voice interaction

中图分类号:

赵艳飞1,2,3, 肖鹏4, 王景川1,2,3, 郭锐4. 基于局部语义地图的移动机器人半自主导航[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(1): 27-33.

ZHAO Yanfei^1，2，3(赵艳飞), XIAO Peng⁴ (肖鹏), WANG Jingchuan^1，2，3* (王景川), GUO Rui^4*(郭锐）. Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(1): 27-33.

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基于局部语义地图的移动机器人半自主导航

Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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