A Review of Outdoor Robotics Research

摘要

This report provides an introductory review of the field of mobile robot navigation, with a domanial bias towards unstructured outdoor environments. The navigational process is reviewed in terms of the following fundamental elements: locomotion mechanism, control system, sensing, environmental mapping, path planning, and localisation. These elements are also described using several representative examples of experimental robotic systems, which have been developed for various complex tasks in outdoor environments. Some of these tasks include cross-country and interplanetary exploration, search and rescue, law enforcement, and military operations. It is important to note that this field is still in its technological infancy. Compared to a robot's potential applicability, somewhat borne out of our own imagination, there exists a substantial amount of research yet to be done and, hence, there is ample room for aspiring roboticists to join the research efforts. Currently, there are numerous open problems that need to be solved before mobile robots can be released into the real-world for affordable, flexible and reliable service. This report discusses a few of the significant problems of late, and provides several avenues for future research.