未知环境中移动机器人环境感知技术研究综述

Research Review of Environmental Cognition Techniques of Mobile Robots in Unknown Environment

未知环境中移动机器人的环境感知技术是实现其环境建模、定位、路径规划等自主导航控制的前提,是移动机器人研究的关键技术之一。从环境信息的获取、处理、表达3个方面,针对现有的环境信息获取方式、环境信息特征的提取处理及融合方法,环境地图的建模问题等具体方法,详细介绍了未知环境中移动机器人的环境感知技术,最后对未来的研究工作做了进一步展望。

In unknown environment,environmental cognition technique of mobile robot is the precondition of implementation for its environment modeling,localization,path planning and self-navigation control,and it is one of the key techniques of mobile robot research.From three kinds of status of the environment information's acquiring,processing and expressing,aiming at present environment information acquiring methods,environment information feature extracting and fusion methods and environment map modeling methods,and other practical methods,environmental cognition techniques of mobile robot in unknown environment were introduced in detail.Finally,the future research work tendencies were pointed out.