Autonomous robots for harsh environments: a holistic overview of current solutions and ongoing challenges
Autonomous robots for harsh environments: a holistic overview of current solutions and ongoing challenges
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DOI：
10.1080/21642583.2018.1477634
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发表时间：
2018-01-01
影响因子：
4.1
通讯作者：
Gu, Dongbing
中科院分区：
文献类型：
--
作者：
Wong, Cuebong;Yang, Erfu;Gu, Dongbing
本文全面概述了为恶劣环境中的应用而开发的机器人和自主系统，在恶劣环境中，由于动态、不确定性、复杂性和不可预测性等原因，很难对机器人的交互进行建模。需要不同特性和设计的机器人在这些环境中执行不同的任务。许多类别的机器人特别受到研究界的青睐，因为它们可以在困难的环境中解决具有挑战性的问题。研究了这些部署的关键示例，并分析了高级自治如何成为必须解决的关键问题。调查工作表明，许多系统缺乏可观察的自主性，这是由于问题的复杂性以及对于需要高成功率的应用程序的自主解决方案缺乏经过验证的可靠性的结果。本文对恶劣环境中部署的自主机器人进行了广泛而全面的概述，以及跨应用领域面临的挑战和现有解决方案的共性，包括石油和天然气检查、太空探索、深海作业以及搜索和救援。
This paper presents a holistic overview of robotics and autonomous systems developed for applications in harsh environments where interactions with robots are difficult to model due to reasons such as dynamics, uncertainty, complexity and unpredictability. Robots of different characteristics and designs are required to perform different tasks within these environments. A number of classes of robots emerge as particularly favoured by the research community for solving challenging problems in difficult environments. Key examples of these deployments are studied with an analysis on how high-level autonomy is a key issue that must be addressed. The surveyed work suggest that the lack of observable autonomy in many systems are a consequence of both the complexity of the problem and the lack of proven reliability of autonomous solutions for applications that demand high success rates. This paper provides a broad and general overview of autonomous robots deployed in harsh environments and the commonalities of the challenges and existing solutions across application areas, including oil and gas inspection, space exploration, deep-sea operations and search and rescue.