水面垃圾清理机器人结构及自主控制研究综述OA北大核心CSTPCD

With the amount of garbage on water surface ever increasing,traditional cleaning methods are no longer able to meet the requirements for safety,efficiency,as well as intelligence in applications.Hence,water surface garbage cleaning robots have emerged and become the focus of development in this field.After more than 20 years of development,it has entered the stage of practical application from research with various structure types designed and the realization of fully autonomous operations from garbage detection to collection.A large amount of literature has been accumulated,but there is still no comprehensive review.Therefore,this paper aims to provide an extensive review of development of water sur-face garbage cleaning robots in literature.The structures of the water surface garbage cleaning robots are classified with the characteristics of each type summarized.The typical framework of an autonomous water surface garbage cleaning robot is analyzed,and its three key technologies of perception,decision-making,and control are highlighted and dis-cussed.Finally,the paper explores the trends of development for technologies in water surface garbage cleaning robots,which are centered on the challenges presented by current applications,to provide a reference for further research and application of water surface garbage cleaning robots.