| 非结构环境下移动机器人定位研究综述 |
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| 引用本文： | 王一波,柳建.非结构环境下移动机器人定位研究综述[J].机床与液压,2021,49(8):176-181. |
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| 作者姓名： | 王一波 柳建 |
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| 作者单位： | 柳州工学院信息科学与工程学院,广西柳州545001;装甲兵工程学院工程中心,北京100072 |
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| 基金项目： | 国家自然科学基金青年科学基金项目(51405510)；广西科技基地和人才专项（2020AC19115）；广西高校中青年教师科研基础能力提升项目（2020KY60013） |
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| 摘 要： | 从移动机器人在非结构环境下应用定位需求出发,系统梳理了移动机器人定位研究发展历史,划分为经验积累、理论框架形成和应用研究突破3个阶段。指出了推动移动机器人定位技术发展的3个主要矛盾,比较并总结了用于解决关键问题的算法的优缺点,展望了基于视觉的移动机器人定位的重点研究方向。
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| 关 键 词： | 移动机器人 定位 视觉SLAM |
Overview of Mobile Robots Localization in Unstructured Environments |
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| WANG Yibo,LIU Jian.Overview of Mobile Robots Localization in Unstructured Environments[J].Machine Tool & Hydraulics,2021,49(8):176-181. |
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| Authors: | WANG Yibo LIU Jian |
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| Abstract: | Based on the localization requirements of mobile robots in unstructured environments, the development history of mobile robot localization research was systematically reviewed. It can be divided into three stages, such as accumulation of experience, formation of theoretical framework and breakthrough of applied research. Three main contradictions driving the development of mobile robot localization technology were pointed out. The advantages and disadvantages of the algorithms used to solve the key problems were compared and summarized. The key research directions of mobile robot localization based on vision were prospected. |
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