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.
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 integra- tion 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.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2009年第2期231-235,共5页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家863基金资助项目(2007AA041701
2007AA041702)
关键词
服务机器人
智能空间
无线射频标签
无线网络信号强度
比例不变特征变换
service robot
intelligent space
RFID （ radio frequency identification） tags
RSSI（ received signal strength indication）
SIFT（scale invariant feature transform）
