服务机器人导航技术研究进展

Navigation of service robot: a review of recent developments

针对目前服务机器人导航技术在实际应用中特别是在复杂动态工作环境下适应性弱的问题,总结阐述了服务机器人导航的基本方法、实现过程和最新研究成果,可为服务机器人自主导航并顺利完成服务任务提供参考。首先,着重分析了目前较为常见的磁导航、惯性导航、传感器导航和视觉导航等多种导航技术的基本原理以及优缺点,并总结了这些技术在服务机器人上的应用范围。然后,针对服务机器人导航过程中涉及的机器人定位和路径规划这两个主要过程,介绍了相关的算法以及最新的研究进展。研究结果表明,要提高服务机器人导航的适应性和智能化水平,改善导航精度不高以及可靠性差等问题,需根据实际情况选择合适的导航方法,同时进一步研究包括智能空间、多传感器融合等相关新技术。

Aming at the problem that service robot navigation shows weak adaptability in practical application especially in the case of complex and dynamic environment, the fundamental methods, realization process and the most recent developments were summarized here to provide reference for future service robots to achieve autonomous navigation and fulfill tasks successfully. Firstly, the comparison of several com- mon navigation technologies, such as magnetic, inertial, sensor-based and vision-based, was made, and the application of these technologies in service robots was summarized. Next, the most recent studies on two main issues involved in navigation, i.e. robot localization and path planning, were reviewed. The results indicate that, in order to improve the adaptability and intelligence level of service robot navigation and solve the problem of low navigation precision and reliability, it is required to select appropriate navigation methods according to the practical situation. Meanwhile, further studies on new technologies including spatial intelligent and multi-sensor fusion should be conducted.