Research On Several Technologies Of Home Service Mobile Robot In Intelligent Space

In order to make the mobile robot mapping and locate itself more accuracy, intelligent space should have flexibility and scalability so that the mobile robot can navigate easier.This paper is mainly aiming at home environment that is a dynamic and non-structured. We can treat the lab as a home, based on the lab, for the mobile robot, there are some technologies researched in the intelligent space as follows:First of all, this paper introduced the background of resarch and the concept of intelligent space, gave the reserch status at home and abroad in recent years. Besides, using the intelligent space technologies, we present that how to structure the intelligent sapce and give the basic elements. Based on it, we can get the 2d environment map.Second, in the intelligent space, mobile robot first needs to know the map, then based on the map, it can locate itself. This paper introduces Simultaneous localization and mapping technology, and gives some difficulties. Combining Simultaneous localization and mapping and intelligent sapce, the mobile robot can locate itself better, and estimated the map is more accuracy. We use a new SLAM algorithm, combining Rao-Blackwellised particle filter and Extended Kalman filter, we can use the advantages of two algorithms. Rao-Blackwellised particle filter produces the local map, which are saved into the intelligent space, and fused into EKF. Compared with EKF, we can avoid the weakness of two popular mapping strategies.Finally, based on the global map that is produced by intelligent space, the mobile robot can use artificial potential field achiveing motion palnning. The algorithm is safe and reliable. The mobile robot can move in every direction.