巡检无人车激光SLAM与路径规划研究综述  

A review of laser SLAM and path planning for patrol unmanned vehicle

作　　者：赵志国[1] 肖文 毛康康 万小康 许振 谢东 庞敏 Zhao Zhiguo;Xiao Wen;Mao Kangkang;Wan Xiaokang;Xu Zhen;Xie Dong;Pang Min(School of Traffic Engineering,Huaiyin Institute of Technology,Jiangsu Huai'an,223001,China)

机构地区：[1]淮阴工学院交通工程学院,江苏淮安223001

出　　处：《机械设计与制造工程》2024年第8期1-4,共4页Machine Design and Manufacturing Engineering

基　　金：国家自然科学基金(51675212)。

摘　　要：激光同步定位与建图(SLAM)及路径规划是决定巡检无人车能否高效完成巡检任务的关键环节。围绕激光SLAM定位算法、环境地图、路径规划3个方面,从其优缺点、适用范围、改进方向出发,介绍了巡检无人车激光SLAM与路径规划研究的概况,系统阐述了国内外研究成果,分析了当前常见的技术难题,并对巡检无人车激光SLAM与路径规划的未来发展做出展望。Simultaneous localization and mapping(SLAM)and path planning by laser radar(LIDAR)are the key links to determine whether patrolling unmanned vehicles can efficiently complete patrolling tasks.Based on the three aspects of localization algorithm,environment map and path planning of laser SLAM,this paper introduces the overview of the research on laser SLAM and path planning of patrol unmanned vehicle,starting from their advantages and disadvantages,application scope and improvement direction.Moreover,the research results at home and abroad are systematically elaborated,and the common technical problems are analyzed.Finally,the future development of laser SLAM and path planning for patrol unmanned vehicle is prospected.

关 键 词：同步定位与建图 定位 路径规划 激光雷达 巡检无人车 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构] TP18[自动化与计算机技术—计算机科学与技术]