多模式移动机器人的发展综述及展望

doi:10.3901/JME.260688

摘要/Abstract

摘要： 随着移动机器人技术的飞速发展，传统单一运动模式的移动机器人已难以满足复杂环境下的应用需求，多模式移动机器人因其卓越的环境适应性和任务执行能力而成为研究热点。综述了近十五年来多模式移动机器人的研究进展，重点探讨了其关键技术挑战与未来发展方向。首先，阐述了多模式移动机器人的主要分类体系及其研究方向；其次，深入剖析了制约多模式移动机器人发展的三大关键技术瓶颈：质量复用技术、运动控制技术以及路径规划技术；最后，从结构设计优化、运动耦合控制以及智能路径规划等方面展望了未来发展趋势，指出实现多模式移动机器人的智能化、模块化、仿生化和集群协同化是重要研究方向。研究为突破多模式移动机器人的技术限制提供了新的思路，对推动该领域的发展具有重要的理论意义。

关键词: 多模式移动机器人, 环境适应性, 质量复用, 运动控制, 路径规划

Abstract: With the rapid development of mobile robot technology, traditional single motion mode mobile robots are no longer able to meet the application needs in complex environments. Multi-mode mobile robots have become a research hotspot due to their excellent environmental adaptability and task execution capabilities. This article reviews the research progress of multimodal mobile robots in the past fifteen years, with a focus on exploring their key technological challenges and future development directions. Firstly, the main classification system and research directions of multi-mode mobile robots were elaborated; Secondly, an in-depth analysis was conducted on the three key technological bottlenecks that constrain the development of multimodal mobile robots: quality reuse technology, motion control technology, and path planning technology; Finally, the future development trends were discussed from the aspects of structural design optimization, motion coupling control, and intelligent path planning. It was pointed out that achieving intelligence, modularity, biomimicry, and cluster collaboration of multi-mode mobile robots is an important research direction. The research provides new ideas for breaking through the technological limitations of multimodal mobile robots and has important theoretical significance for promoting the development of this field.

Key words: multi-mode mobile robot, environmental adaptability, quality reuse, motion control, path planning

中图分类号:

TP242

赵羽航, 陈成, 庄星瀚, 訾佩锦, 陈佳伟, 徐坤, 丁希仑. 多模式移动机器人的发展综述及展望[J]. 机械工程学报, 2026, 62(13): 22-40.

ZHAO Yuhang, CHEN Cheng, ZHUANG Xinghan, ZI Peijin, CHEN Jiawei, XU Kun, DING Xilun. Overview and Prospect of Development of Multimodal Locomotion Robot[J]. Journal of Mechanical Engineering, 2026, 62(13): 22-40.

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