Review of Wheeled Mobile Robots’ Navigation Problems and Application Prospects in Agriculture

摘要

Robot navigation in the environment with obstacles is still a challenging problem. In this paper, the navigation problems with wheeled mobile robots (WMRs) are reviewed, the navigation mechanism of WMRs is analyzed in detail, the methods of solving the sub problems such as mapping, localization and path planning which all both related to robot navigation are summarized and the advantages and disadvantages of the existing methods are expounded. Especially in the agricultural field, the precise navigation of robots in the complex agricultural environment is the prerequisite for the completion of various tasks. This paper is aimed at the special complexity of the agricultural environment, prospected the application of the solution to the navigation problem of WMRs in agricultural engineering, put forward the research direction to solve the problems of precise navigation in agricultural environments.