计算机工程与应用2024，Vol.60Issue(11)：17-31,15.DOI:10.3778/j.issn.1002-8331.2310-0352
水面垃圾清理机器人结构及自主控制研究综述
Review of Research on Structure and Autonomous Control of Water Surface Garbage Cleaning Robots
摘要
Abstract
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.关键词
机器人/水面垃圾/收集机构/自主控制Key words
robot/water surface garbage/collection mechanism/autonomous control分类
信息技术与安全科学引用本文复制引用
盘姿君,王建华,郑翔,田雨,田逸宁,张梦迪,王浩铸,车文博..水面垃圾清理机器人结构及自主控制研究综述[J].计算机工程与应用,2024,60(11):17-31,15.基金项目
国家自然科学基金(52271322). （52271322）
