异常运动状态识别对移动机器人航迹推算、定位、导航以及机器人安全等至关重要。该文以自行研制的移动机器人为研究对象,分析了4个驱动轮的状态特点(正常、打滑、受阻、卡死),提取了8个反映4个驱动轮状态的特征,识别了驱动轮运动状态,针对受阻和被卡死两种异常设计了避让策略。实验结果表明,该方法可以有效地识别不同的运动状态,并可以进行有效的避让。 Recognition of abnormal motion is crucial for trajectory estimation, positioning, navigation and robot safety of mobile robots. In this paper, the self-developed mobile robot is taken as the research object. The characteristics of the four driving wheels are analyzed (normal, slippery, blocked and stuck), and the characteristics of the four driving wheels are extracted and the driving wheel movement is identified State, designed for the blocking and stuck two exceptions to avoid strategy. The experimental results show that this method can effectively identify different movement states and can effectively avoid them.