An overview of mobile robot navigation technology

摘要

As a core technology of mobile robots, navigation technology involves multilayer architectures such as perception, decision, and action, including main modules such as mapping, localization, and planning, and is compatible with various algorithms such as classical control and machine learning. The related research covers a wide range and a long period, whose connection is not obvious. To sort out the relationship between different works and help quickly understand the development and challenges of mobile robot navigation technology, this paper starts from the word interpretation and mathematical description of “navigation" and runs through the entire text with the two ultimate goals of “guiding" and “moving." By analyzing navigation application limitations in different environments and exploring the impact of the spatial complexity and temporal uncertainty of the environment on navigation technology, the research status and critical challenges of navigating in complex scenes are clarified. With the help of sorting out related documents from recent decades, this paper looks for the relevant links between different studies, the original study intention, and possible solutions to the challenges to help readers deepen their understanding of navigation technology and provide ideas for subsequent research.