自主陆地车辆的发展及其关键技术研究

Research on development and key techniques of autonomous land vehicle

自主陆地车辆在工业、农业、军事、服务和科学研究等方面具有广泛应用,可以代替人类完成很多繁重或恶劣条件下无法胜任的工作,因而成为控制和人工智能等领域学者的研究热点之一。文中简述了自主陆地车辆的体系结构及工作原理,详细介绍了目前国内外自主陆地车辆的研究发展概况和典型系统,并对控制体系结构、定位导航、环境感知和多传感器信息融合等关键技术进行了分析,进而归纳了自主陆地车辆未来的发展趋势及需要努力的方向。

Autonomous land vehicle （ALV） is widely used in industry, agriculture, military, service and scientific research. It becomes a hot topic for research scholars in the field of control and artificial intelligence, for it can take the place of people to do a lot of mission impossible which is heavy or in bad condition. The architecture and operating principle of ALV is briefly introduced, and the development status and typical system of ALV at home and abroad are described in detail. Then the key techniques are analyzed, such as the control system structure, location and navigation, environment perception and multi-sensor information fusion. Finally, the development tendency of the ALV and the way to go forward is concluded.