自主移动机器人避障技术研究现状  

Research status of obstacle avoidance technologies for autonomous mobile robots

作　　者：晋晓飞 王浩[1,3] 宗卫佳[1,3] 王鹏程 王策 JIN Xiao-fei;WANG Hao;ZONG Wei-jia;WANG Peng-cheng;WANG Ce(Institute of Bio-inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)

机构地区：[1]南京航空航天大学仿生结构与材料防护研究所,江苏南京210016 [2]南京航空航天大学自动化学院,江苏南京210016 [3]南京航空航天大学航天学院,江苏南京210016

出　　处：《传感器与微系统》2018年第5期5-9,共5页Transducer and Microsystem Technologies

基　　金：国家高技术研究发展计划(“863”计划)资助项目(2015AA042304);国家自然科学基金重点资助项目(61233014)

摘　　要：对避障技术的核心内容暨避障算法展开归纳介绍,依照传统算法和智能算法分类,详细介绍了应用较多的各避障算法的基本原理、优缺点及部分改进方案;对自主移动机器人避障技术的应用前景和发展趋势作出了展望。Core content of obstacle avoidance technology or algorithms for obstacle avoidance are summarized, classified by traditional and intelligent algorithms. Their basic principles, the merits and disadvantages, and partial improvement schemes are introduced in detail. Application foreground and developing trend of obstacle avoidance technologies for autonomous mobile robots are prospected.

关 键 词：自主移动机器人 避障 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]