Abstract
Autonomous mobile robots are becoming more prominent in recent time because of their relevance and applications to the world today. Their ability to navigate in an environment without a need for physical or electro-mechanical guidance devices has made it more promising and useful. The use of autonomous mobile robots is emerging in different sectors such as companies, industries, hospital, institutions, agriculture and homes to improve services and daily activities. Due to technology advancement, the demand for mobile robot has increased due to the task they perform and services they render such as carrying heavy objects, monitoring, search and rescue missions, etc. Various studies have been carried out by researchers on the importance of mobile robot, its applications and challenges. This survey paper unravels the current literatures, the challenges mobile robot is being faced with. A comprehensive study on devices/sensors and prevalent sensor fusion techniques developed for tackling issues like localization, estimation and navigation in mobile robot are presented as well in which they are organised according to relevance, strengths and weaknesses. The study therefore gives good direction for further investigation on developing methods to deal with the discrepancies faced with autonomous mobile robot.
Highlights
An autonomous mobile robot is a system that operates in an unpredictable and partially unknown environment
The first autonomous navigation was based on planar sensors such as laser range finder such that they navigate without human supervision
This means that the robot must depend on other aspects, such as perception, localization, cognition, and motion control
Summary
An autonomous mobile robot is a system that operates in an unpredictable and partially unknown environment. The mobile robot cannot take the direct route from its starting point to the ending point, which means that motion planning techniques must be incorporated This means that the robot must depend on other aspects, such as perception (valuable data acquired by the mobile robot through the use of sensors), localization (position and configuration to be determined by the robot), cognition (decision made by the mobile robot on how to achieve its goals), and motion control (the robot must estimate its input forces on the actuators to accomplish the anticipated trajectory).
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