移动机器人导航技术综述  

An overview of mobile robot navigation technology Chenpeng

作　　者：姚陈鹏 石文博 刘成菊[2] 陈虹 陈启军 YAO;Wenbo SHI;Chengju LIU;Hong CHEN;Qijun CHEN(School of Automotive Studies,Postdoctoral Station of Mechanical Engineering,Tongji University,Shanghai 201804,China;School of Electronics and Information Engineering,Tongji University,Shanghai 201804,China)

机构地区：[1]同济大学机械工程流动站,同济大学汽车学院,上海201804 [2]同济大学电子与信息工程学院,上海201804

出　　处：《中国科学：信息科学》2023年第12期2303-2324,共22页Scientia Sinica(Informationis)

基　　金：国家自然科学基金重点项目(批准号:62233013)资助。

摘　　要：作为移动机器人的核心技术之一,导航技术涉及感知、决策、控制等多层架构,包含建图、定位、规划等主要模块,兼容经典控制与机器学习等多样算法,其相关研究涉及面广,时间跨度大,联系较为不明显.为梳理不同工作间关联,帮助快速了解移动机器人导航技术发展与挑战,本文从“导航”的词语释义与数学描述出发,以“导”与“航”两个主要目标为线索贯穿全文.通过分析不同环境下的导航应用局限,探究环境的空间复杂性与时间不确定性对导航技术产生的影响,阐明复杂场景应用下的研究现状与关键挑战.全文借助对近几十年来相关文献的归类梳理,寻找不同研究间的相关联系、研究初衷以及可能方案,拟在帮助读者加深对导航技术理解的同时,为后续研究提供思路参考.As a core technology of mobile robots,navigation technology involves multilayer architectures such as perception,decision,and action,including main modules such as mapping,localization,and planning,and is compatible with various algorithms such as classical control and machine learning.The related research covers a wide range and a long period,whose connection is not obvious.To sort out the relationship between different works and help quickly understand the development and challenges of mobile robot navigation technology,this paper starts from the word interpretation and mathematical description of“navigation”and runs through the entire text with the two ultimate goals of“guiding”and“moving.”By analyzing navigation application limitations in different environments and exploring the impact of the spatial complexity and temporal uncertainty of the environment on navigation technology,the research status and critical challenges of navigating in complex scenes are clarified.With the help of sorting out related documents from recent decades,this paper looks for the relevant links between different studies,the original study intention,and possible solutions to the challenges to help readers deepen their understanding of navigation technology and provide ideas for subsequent research.

关 键 词：移动机器人 导航技术 导航效率 导航安全 复杂环境 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]