Research Of Items Searching And Locating Technology For Home Service Robot

In family environment, Searching for specific item is needed in many task of intelligent robot, how to finish the searching task quickly and accurately is important to the realization of robot's other task. The core of the searching task is identification and location of items. In the smart space environment, the robot can take advantage of the distribution agent in the room and its own sensors to complete the task of identification and location of items better, so the robot complete the searching task quickly an accurately. Robot searching tasks can be divided into three sub-tasks: item identification, item location, the robot motion control, so this issue focuses on these three problems. The specific research of the paper is as follows:1. In order to study the way of identification and location of items in family environment, we analyze the current methods of identification and location of items in family environment then recount the characteristic and the problem with these methods. In the final the possibility and advantage of identification and location of items with RFID technology in smart space environment are discussed.2. In this paper a more suitable method of identification and location of items by means of reducing the area that item potential exists step by step using of radio frequency identification (RFID) technology is proposed. This method leads more simple identification of items and more ability to adapt to the environment, at the same time the Service Robot can perform the search task with clear aim. Based on the characteristic of family environment we use StarGazer system which is a unique sensor system for indoor localization. With the help of this system, the Service Robot can get its position in real-time and has the ability of moving from a random position to another which realize the navigation task, The problem of robot control in search tasks is solved.3. In order to improve the positioning accuracy and the efficiency of the task, we adopted the way of probability calculating, first of all, a linear polarization of ultra-high radio frequency antenna identification probability model is established, then use Bayes rule with antenna model and Service Robot's trajectory as well as to locate items which electronic tag has affixed.4. Software system architecture was designed according to the demand of items searching task, software platform was built with VC++, the platform includes Service Robot control, sensor configuration, sensor data acquisition, real-time sensor information indicates, positioning and navigation of Service Robot, matching and registration of items' information and label information, identification and location of items. This software platform in support of service robots to complete search task smoothly.