移动机器人长期自主环境适应研究进展和展望  

Long-term Autonomous Environment Adaptation of Mobile Robots:State-of-the-art Methods and Prospects

作　　者：曹风魁 庄严[1] 闫飞 杨奇峰 王伟[1] CAO Feng-Kui;ZHUANG Yan;YAN Fei;YANG Qi-Feng;WANG Wei(School of Control Science and Engineering,Dalian University of Technology,Dalian 116024;Shenyang Institute of Automation,China Academy of Sciences,Shenyang 110016;University of Chinese Academy of Sciences,Bei-jing 100049;Shenyang SIASUN Robot&Automation CO.,LTD.,Shenyang 110168)

机构地区：[1]大连理工大学控制科学与工程学院,大连116024 [2]中国科学院沈阳自动化研究所,沈阳110016 [3]中国科学院大学,北京100049 [4]沈阳新松机器人自动化股份有限公司,沈阳110168

出　　处：《自动化学报》2020年第2期205-221,共17页Acta Automatica Sinica

基　　金：国家自然科学基金(61503056,U1608253)资助~~

摘　　要：真实世界中存在光照、天气、季节及场景结构等复杂环境因素,这些因素的改变对移动机器人基本行为和任务能力带来巨大挑战.随着机器人与人工智能技术的不断发展,如何使移动机器人在长期运行中与复杂多变的环境条件相适应是智能机器人领域的研究热点.本文重点从地图构建与动态维护、重定位及场景理解等移动机器人基本行为能力的系统综述入手,对移动机器人长期自主环境适应的前沿技术与研究方向进行了着重论述与分析.最后对该领域的研究重点和技术发展趋势进行了探讨.In real-world applications,mobile robots will work in complex open environments,where there are various changing factors such as time-varying illumination,weather,seasons and scene layout,which are all challenging tasks for a mobile robot with a long-term autonomous environment adaptation ability.With the rapid development and improvement of the technology in mobile robotics and artificial intelligence,how to make mobile robots adapt to changing environments is a hot research topic.This paper starts with a systematic review of the basic capabilities of mobile robots such as mapping and map updating,relocalization and scene understanding in dynamic environments,and then focuses on the cutting-edge technologies of long-term autonomous environment adaptation of mobile robots.The research emphases and prospective technical development trends are also presented at the end of this paper.

关 键 词：环境适应 长期自主 地图构建 重定位 场景理解 移动机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]