中文摘要：

针对地图已知情况下的移动机器人大范围导航问题，研制了一个由地图编辑器模块、地图匹配与定位模块以及多层递阶规划模块三部分组成的移动机器人导航系统。地图编辑器负责导航地图的编辑；地图匹配与定位模块利用里程计和激光雷达数据实现基于地图匹配的自定位；多层递阶规划模块将基于拓扑地图的全局规划、基于栅格地图的局部规划和底层的行为控制功能有机结合。通过室内定位和大范围导航实验评估了本系统的有效性和准确性。

英文摘要：

In order to solve the map-based large-scale space navigation problem of mobile robots, a navigation system is proposed which consists of three modules, including map editor, map matching and self-localization, and hierarchical planning. The map editor module takes charge of editing the navigation map, the map matching and self-localization module uses data from the odometer and laser scanner to realize robot self-localization based on matching between local and global maps, and the hierarchical planning module efficiently integrates such functions as global topological map-based planning, local grid map-based planning, and low-level behavior control. Experiments of indoor self-localization and navigation in a largescale space are made to evaluate the validity and accuracy of the proposed system.