移动机器人人机互助行走监控方法研究及其实际应用

由于行走监控在移动机器人技术中的独特地位和作用，使得其问题解决路线与最终性能极大地影响着构成系统的实用性及用户接受程度．本文通过剖析行走监控同其他模块的内在联系，深入地讨论了研究此问题的必要性和困难所在．最后，结合一个实际应用系统，给出了行之有效的指导思想、实现策略和关键问题解决途径。

As the monitor has especial place and action in mobile robot systems, its way of solving problems and its capability have a great effect on system utility and user's accepting degree. Based on the analysis of internal link between monitor and other  models  in  mobile  robot systems, we discuss deeply about the problem's necessity and difficulties.  Finally, with an experiment  system, the paper  gives us a new idea about its implementation strategies and its solving way.

国家自然基金