中文摘要：

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．

英文摘要：

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 tho mobile robot are also analyzed in detail. The navigation system interface is designed, and navigation experiments under indocc enact are made to veery the effectiveness of the proposed mobile robot ＂human-machine-environment＂ integrated navigation system.