室内环境中服务机器人的生物启发式感知与导航：综述

Bioinspired Perception and Navigation of Service Robots in Indoor Environments: A Review.

作者信息

Wang Jianguo, Lin Shiwei, Liu Ang

机构信息

Faculty of Engineering and Information Technology, University of Technology Sydney, Sydney, NSW 2007, Australia.

出版信息

Biomimetics (Basel). 2023 Aug 7;8(4):350. doi: 10.3390/biomimetics8040350.

DOI:10.3390/biomimetics8040350

PMID:37622955

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10452487/

Abstract

Biological principles draw attention to service robotics because of similar concepts when robots operate various tasks. Bioinspired perception is significant for robotic perception, which is inspired by animals' awareness of the environment. This paper reviews the bioinspired perception and navigation of service robots in indoor environments, which are popular applications of civilian robotics. The navigation approaches are classified by perception type, including vision-based, remote sensing, tactile sensor, olfactory, sound-based, inertial, and multimodal navigation. The trend of state-of-art techniques is moving towards multimodal navigation to combine several approaches. The challenges in indoor navigation focus on precise localization and dynamic and complex environments with moving objects and people.

摘要

由于机器人执行各种任务时的概念相似，生物学原理引起了人们对服务机器人的关注。受生物启发的感知对机器人感知具有重要意义，它是受动物对环境的感知启发而来。本文综述了服务机器人在室内环境中的受生物启发的感知与导航，室内环境是民用机器人的常见应用场景。导航方法按感知类型分类，包括基于视觉的、遥感的、触觉传感器的、嗅觉的、基于声音的、惯性的和多模态导航。当前技术的趋势是朝着多模态导航发展，以结合多种方法。室内导航的挑战集中在精确定位以及存在移动物体和人员的动态复杂环境中。