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Abstract：
As a fundamental issue in robotics academia and industry, indoor autonomous mobile robots (AMRs) have been extensively studied. For AMRs, it is crucial to obtain information about their working environment and themselves, which can be realized through sensors and the extraction of corresponding information from the measurements of these sensors. The application of sensing technologies can enable mobile robots to perform localization, mapping, target or obstacle recognition, and motion tasks, etc. This paper reviews sensing technologies for autonomous mobile robots in indoor scenes. The benefits and potential problems of using a single sensor in application are analyzed and compared, and the basic principles and popular algorithms used in processing these sensor data are introduced. In addition, some mainstream technologies of multi-sensor fusion are introduced. Finally, this paper discusses the future development trends in the sensing technology for autonomous mobile robots in indoor scenes, as well as the challenges in the practical application environments.
摘要：
作为机器人学术界和工业界的一个基本问题，室内自主移动机器人(AMR)已被广泛研究。对于AMR，获取有关他们的工作环境和他们自己的信息至关重要，这可以通过传感器以及从这些传感器的测量中提取相应的信息来实现。传感技术的应用可以使移动机器人进行定位,映射,目标或障碍物识别，和运动任务，等。本文综述了室内场景下自主移动机器人的传感技术。分析和比较了使用单个传感器在应用中的好处和潜在问题,介绍了处理这些传感器数据的基本原理和常用算法。此外,介绍了几种主流的多传感器融合技术。最后,本文探讨了室内场景下自主移动机器人传感技术的未来发展趋势,以及实际应用环境中的挑战。
