为了验证本文提出的避障定位方法的有效性和可行性，在广茂达移动机器人平台上分别设计了室内环境下的实时避障及定位、系统误差校核以及轮子打滑校核实验。 -In this paper, in order to verify the location of the obstacle avoidance method is effective and feasible, in Guangmao Tatsu mobile robot platform designed indoor environment