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Research on Several Technologies of Home Service Mobile Robot in Intelligent Space

Author: LiPeng
Tutor: YangMingLi
School: Harbin Institute of Technology
Course: Control Science and Engineering
Keywords: Intelligent space Mobile robot Simultaneous Localization and Mapping Path planning
CLC: TP242.6
Type: Master's thesis
Year: 2011
Downloads: 54
Quote: 0
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Abstract


Build and precise positioning of the home environment map in order to achieve a mobile robot using the concept of smart space , the mobile robot can be a variety of devices in the same environment wireless interconnect , the expansion of mobile robot perception through smart space the device calculates the mobile robot carrying the sensor to the data , reducing the burden on the mobile robot . This article aims to family environment as a background to build smart space enables the robot to quickly and accurately complete the construction of the environment map and precise positioning . Under this premise , path planning, and completion of the services of the mobile robot . The main contents are as follows : First, given the significance of the research service robot , the emerging concept of smart space and smart space to build the basic technical requirements . Build smart space , the use of image processing methods to obtain a two-dimensional map of the environment . Secondly , the mobile robot localization and mapping technology is introduced , discussed some difficulties encountered in the application process , given the extended Kalman filter and the Rao-Blackwellised particle filter method to solve the mobile robot simultaneous localization robot simultaneous localization and map building process with intelligent space technology combined with the construction of a general process , by using a hybrid simultaneous localization and mapping methods , combined with the Rao-Blackwellised particle filter and extended Kalman filter method advantages and avoid the disadvantages of the two methods of Rao-Blackwellised particle filter to create local maps , and integration into the global map , by comparison with the simulation results of the extended Kalman filter . Finally, build a map in the smart space under the premise of using artificial potential field path planning . This method has a fast response, safe and reliable , can guarantee mobile robot environment in each coordinate point corresponding to the direction of movement in the home environment , with a certain value .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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