Navigation of service robot: a review of recent developments

摘要

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 common 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.