关键词:家庭服务机器人; 家庭全息地图; 几何—拓扑分层模型; QR code 标签
Research on constructing of household holographic map for service robot
WU Pei-liang, KONG Ling-fu, ZHAO Feng-da
(College of Information Science & Engineering, Yanshan University, Qinhuangdao Hebei 066004, China)
Abstract:This paper proposed a novel household holographic map, which combined information of environment and objects, to meet the needs of intelligent cognition and operation for home service robot. It designed a locallymetric and globallytopological hierarchical model. Analyxed the relationships between robot coordinate, local environment coordinate and object, and then presented both the algorithm for service robot selflocalization within local environment and the methods to build the holographic map based on coordinate transformation. The robot experiments in real household environments show that according to the holographic map described with the hierarchical metrictopological model, the efficiencies of both path planning and task execution for robot are obvious improved. ......