Abstract:

Based on the discussion of features and applications of mobile robots, a survey of their researches was made from the viewpoint of the technologies of their control framework and autonomy. Then control modes and popular systems of mobile robots were discussed and the relative advantages and disadvantages were summarized. The characteristics of the control frameworks of mobile robots were concluded and a few of existing control frameworks were analyzed. According to the development of sensor networks, the combination and cooperation of mobile robots and sensor networks was predicted and the challenges that control frameworks of mobile robots must face to work with sensor networks were pointed out, and a new and reasonable one was put forward at the end.

Key words: mobile robot, control framework, sensor network, dynamic feature

摘要：

在分析移动机器人的特点与应用的基础上，从控制与自治技术研究角度回顾了移动机器人的研究进展，分析了移动机器人的控制模式和常见的一些控制系统，并讨论了各自的优缺点。指出了移动机器人控制框架研究的方向和特点，分析了现有的一些控制框架。结合传感器网络的发展，预测了移动机器人与传感器网络结合的发展趋势，分析了传感器网络环境下移动机器人控制框架所面临的挑战和策略,给出了一种可行的控制框架。

关键词: 移动机器人, 控制框架, 传感器网络, 动态特性