北京航空航天大学学报 ›› 2009, Vol. 35 ›› Issue (2): 231-235.

• 论文 • 上一篇    下一篇

基于智能空间的家庭服务机器人混合定位方法

王田苗, 陶 永, 魏洪兴, 陈殿生   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100191
  • 收稿日期:2008-07-20 出版日期:2009-02-28 发布日期:2010-09-16
  • 作者简介:王田苗(1960-),男,湖北武汉人,教授,wtm_itm@263.net.
  • 基金资助:

    国家863基金资助项目(2007AA041701, 2007AA041702)

Hybrid location method for home service robot based on intelligent space

Wang Tianmiao, Tao Yong, Wei Hongxing, Chen Diansheng   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2008-07-20 Online:2009-02-28 Published:2010-09-16

摘要: 智能空间在家庭服务机器人的应用中具有重要的作用,服务机器人的定位是其中的难点.首先提出了一种家庭环境下实现服务机器人进行家庭辅助操作的智能空间架构,然后对一种低成本的服务机器人混合定位方法进行了研究,该方法首先基于加权概率匹配定位算法的无线网络信号强度确定位置范围,然后读取智能空间中的无线射频标签进行位置计算,最后基于比例不变特征变换算法进行最终位置的视觉定位.在家居环境下的实验证明了该混合定位方法的有效性,该混合定位方法为服务机器人走入家庭提供了一种低成本、高可靠性的定位解决方案.

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.

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发