摘要
随着物联网技术的蓬勃发展,人们对导航及相关基于位置服务的需求日益迫切,共融机器人的概念和生态应运而生。共融机器人是指结构柔顺灵巧、感知多源融合、控制灵活多样和交互自主智能,具有人/机/环境彼此共存、协作与认知功能的机器人,可以普遍应用在避障、路径规划、虚拟现实、消防急救和单兵作战等导航相关领域。针对共融机器人的导航问题进行分析,系统回顾了共融机器人的导航技术。从信息融合的层面剖析了共融体制,介绍了相关信息融合方法和机器人位姿估计方法。结合人工智能、5G和北斗第三代卫星导航系统展望了共融机器人导航技术的发展方向。
With the booming development of the Internet-of-Things(IoT)technology,people’s demand for navigation and other Location-based Services(LBS)has become increasingly urgent,and the concept and ecology of the coexisting-cooperative-cognitive robot has emerged.The coexisting-cooperative-cognitive(tri-co)robot refers to the robot with flexible structure,multimodal perception,autonomous control,intelligent interaction,and the coexisting,cooperative and cognitive functions among man,machine and environment,which can be widely used in obstacle avoidance,path planning,virtual reality,fire emergency,individual combat and other navigation related fields.The navigation problems of tri-co robots are analyzed and the navigation technology on tri-co robots is reviewed systematically.Then,coexisting-cooperative-cognitive system is analyzed from the level of information fusion,and the related information fusion methods and location and attitude estimation methods are introduced.Finally,it is a brief summary together with some conception about the future development of navigation technology of tri-co robot by combining artificial intelligence,5G and BDS-3(the third-generation Beidou satellite navigation system).
作者
刘公绪
LIU Gongxu(School of Electronic Engineering,Xidian University,Xi’an 710071,China;Key Laboratory of High-Speed Circuit Design and EMC,Ministry of Education,Xi’an 710071,China)
出处
《无线电工程》
2020年第12期1007-1015,共9页
Radio Engineering
基金
中国博士后科学基金资助项目。
关键词
共融机器人
导航
信息融合
人工智能
5G
coexisting-cooperative-cognitive robot
navigation
information fusion
artificial intelligence
5G
