Research Of Navigation Several Key Issues Of Service Robots Based On Intelligent Space

The primary problem to be solved while robots perform service tasks in the environment which own complex structure and obvious regional characteristics is navigation. Map built in the traditional robot navigation focuses on the geometry of space, without considering of the regional characteristics of the robot service environment. The introduction of the intelligent space technology improves the ability of service robot to perceive the environment. Based on intelligent space technology, map building and navigation for the implementation of service tasks in home environment, navigation under a wide range of outdoor surrounding are carried out in this paper.Features for the difference of room function and layout, the map building model based on the artificial landmark in the intelligent space is designed in this paper. The model divides the environment into global and local layer. Map of the global layer is to determine which room the starting position and the target position belong to, and search path among difference apartments. Map of the local layer is to ensure the robot to move to the goal position or the door from current location in the single room. For the map building needs of each layer, information storage format of the artificial landmark is designed, mean while the global level map database and the connectivity relationship database of each room are generated.In this thesis, the research of navigation in wide range semi-unknown environment is covered, and distributed navigation information acquisition mode is proposed. Traditional navigation mode of map building,global locating,path planning is been gotten rid. The mode divides the environment into global guiding layer and the local searching layer. Robot informs the guiding information of which local area the target point belongs to and how to reach this region by reading the global level artificial landmark attached around the corner. Adjacency information of destination points is obtained by the robot on reading the local searching level artificial landmark, and finally the target position of the navigation task is found by the robot.The existing ceiling projector based accessory navigation system has been systematically learned by the author. The inadequate such as the non-adjustability of the spot rate and uniform motion cannot be achieved of the spot has been pointed out. Laser projecting and tracking system is designed based on the available accessory navigation system. The real-time communication between the server and projector,the server and robot is realized in this paper. The spot rate can be set by the sever-side program, and the manual control mode of projector linkage is achieved. Spot tracking algorithm is designed in the thesis. The effectiveness of laser projecting and tracking system is verified by experiments.