为移动机器人自主导航划分三阶段五步骤，梳理关键技术与传感器。
Autonomous Navigation and Collision Avoidance for Mobile Robots: Classification and Review
- 按三阶段五步法重构导航流程，明确各环节技术分工。
- 系统梳理激光雷达、视觉等主流传感器与算法组合方案。
- 适合机器人研发初学者快速掌握导航系统设计框架。
本文提出一种针对自主移动机器人（AMR）的新分类方法，将其自主避障导航过程划分为三个阶段和五个步骤。该分类旨在促进对系统独立输入变量（硬件、软件）之间关系的理解，并建立连接。通过分析现有成熟技术在传感器选择和导航方法上的应用，本文总结了各阶段的主流方法与广泛接受的技术方案。研究为未来移动机器人项目提供了可复用的知识基础，有助于系统化设计与开发。
原文摘要 · Abstract (English)
This paper introduces a novel classification for Autonomous Mobile Robots (AMRs), into three phases and five steps, focusing on autonomous collision-free navigation. Additionally, it presents the main methods and widely accepted technologies for each phase of the proposed classification. The purpose of this classification is to facilitate understanding and establish connections between the independent input variables of the system (hardware, software) and autonomous navigation. By analyzing well-established technologies in terms of sensors and methods used for autonomous navigation, this paper aims to provide a foundation of knowledge that can be applied in future projects of mobile robots.
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