Research Of Indoor Environment Monitoring And Mapping Based On Household Robot

With the improvements of social information level and robot technology, the robot applications become more and more widespread, at the same time, people have increasing demands on the quality of life, the household robot will also gradually into the ordinary families. To enable them to actually put into use, we need to realize autonomous navigation capability. Building environment maps with using household robot is a prerequisite for navigation. So this article mainly researches on the indoor environment monitoring and mapping based on household robot.Firstly, this article has designed an indoor environmental monitoring system for household robot; the environment monitoring system of household robot has been built by using the high-performance processor, monitor the indoor temperature, humidity, carbon monoxide, carbon dioxide, four environmental factors change in real time, which is to prevent the fire, gas leakage and other accidents from occurring. The system performance has been tested to meet basic application requirements.Secondly, the main work of this article is the research on the mapping of household robot based on laser range finder, introduces the process of the SLAM, the "division-mergence" method is used to create the local map, mainly through discrete points segmentation, line segments extraction and line segments fitting. In the discrete points segmentation process, with using the method of dynamic threshold to divide the discrete points, and gets a good effort. Then the Extended Kalman Filter is used to achieve self-positioning of the robot, after robot self-positioning, more accurate local map are acquired, in the comparison process of the local map and global map related segments,"setting the segment area range" method is adopted to improve the speed of the comparison of related segments, accelerate the integration of the local map and the global map, and establish a global map quickly.Finally, this article has done the research on the localization of household robot based on sonar sensor. Mapping research process requires the addition of more external sensors, like sonar sensor, et al. In order to reflect the real environment, this paper emphasizes to made related analysis and research of household robot localization algorithm on the previously created global map, and then performs an experiment on the household robot localization based on the sonar sensor. The experiments show that:household robot using lower-cost sonar sensor and improved Monte Carlo algorithm can have a good positioning effect, and meet the practical requirements.