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Hybrid location method for home service robot based on intelligent space
Wang Tianmiao, Tao Yong, Wei Hongxing, Chen Diansheng*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� Based on the requirement of service robot operation in home environment, an intelligent space framework for service robot was proposed,which was composed of smart objects, RFID (radio frequency identification) tags, wireless access points, home server and a service robot. After that, the hybrid location method for home service robot based on intelligent space was given. The WLAN (wireless local area network) location based on RSSI (received signal strength indication) was introduced; then, analysis methods of the RFID decision-maker and vision location based on SIFT (scale invariant feature transform) were proposed. The integration of the three methods was proposed using the different features of the RSSI, RFID decision-maker and SIFT algorithms. Finally, the result was verified through experiment in home environment. With the help of intelligent space, the hybrid location method can provide a low-cost and reliable solution for the service robot entering families.
Keywords�� service robot   intelligent space   RFID(radio frequency identification) tags   RSSI(received signal strength indication)   SIFT(scale invariant feature transform)     
Received 2008-07-20;
Fund:

����863����������Ŀ(2007AA041701, 2007AA041702)

About author: ������(1960-),��,�����人��,����,wtm_itm@263.net.
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������, �� ��, κ����, �µ���.�������ܿռ�ļ�ͥ��������˻�϶�λ����[J]  �������պ����ѧѧ��, 2009,V35(2): 231-235
Wang Tianmiao, Tao Yong, Wei Hongxing, Chen Diansheng.Hybrid location method for home service robot based on intelligent space[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2009,V35(2): 231-235
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