Artificial Intelligence for Autonomous Mobile Robots in IR4.0–IR6.0: A Unified Review from Perception and Visual Servoing to Decision-Making

Reviews of artificial intelligence (AI) for mobile robots usually cover one competence—perception, SLAM, path planning, control, or reinforcement learning—and rarely show how these combine into a working system. We take the opposite view and treat autonomy as one pipeline: sensing, perception, localization and mapping, prediction, planning, visual servoing and control, high-level decision-making, and continual learning. We survey how AI has reshaped each stage for industrial and service robots across Industry 4.0, 5.0, and the emerging Industry 6.0. Using a structured, PRISMA-informed protocol with explicit search strings, inclusion criteria, and cross-embodiment transfer rules, we screen the literature, analyze a corpus drawn mainly from the last five years, and position it against prior surveys with a coverage matrix that exposes their single-block focus. Four findings stand out. Perception and localization approach engineering maturity through multimodal fusion and foundation vision models. Planning and control stay effective but computationally demanding. Decision-making, now driven by large language and vision–language–action models, is powerful yet unverifiable and fails under safety constraints. Lifelong learning is almost absent from deployed systems. The decisive weaknesses sit at the interfaces: at the perception–planning, planning–control, and control–decision handoffs the sim-to-real gap, limited on-robot compute, and scarce industrial data compound. We compare AI families by technology readiness, catalog datasets and benchmarks, examine the safety-certification barrier, and consolidate cross-cutting gaps. We close with a staged roadmap toward Industry 6.0 and a next-generation architecture coupling a foundation perception backbone, a world model and digital twin, a continual-learning memory, and a reasoning core wrapped by a safety monitor. The aim is to move from cataloging algorithms to engineering integrated autonomy.