基于多传感器信息融合的移动机器人导航综述  

Survey of mobile robot navigation technology based on multi-sensor information fusion

作　　者：丁伟[1] 孙华[2] 曾建辉[2] 

机构地区：[1]哈尔滨理工大学自动化学院,黑龙江哈尔滨150080 [2]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《传感器与微系统》2006年第7期1-3,共3页Transducer and Microsystem Technologies

摘　　要：综述了自主式移动机器人导航技术,对其中的同步定位与地图创建、路径规划以及多传感器信息融合等技术进行了详细的分析,并从基于地图、基于环境和基于行为3个方面全面地阐述了移动机器人路径规划技术的研究现状。对当前的研究热点SLAM技术、遗传算法和基于行为的规划算法等进行了较为详细的介绍和分析。同时,展望了移动机器人导航技术的发展趋势。The navigation technologies of autonomous mobile robot are summarized, and the technologies of simultaneous localization and map building, path planning and multi-sensor fusion are analyzed. The current status of path planning technologies for mobile robot are expound from three aspects, map-based, environment medelbased and behavior-based. Some trends of path planning technologies such as SLAM technology,genetic algorithm and behavior-based algorithm are introduced. Meanwhile, the trend of mobile robot navigation technology is described.

关 键 词：移动机器人 导航 同步定位与地图创建 路径规划 多传感器信息融合 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]