Autonomous Navigation And Human Machine Interaction Of Shopping Guidance Robots

With the continuous breakthrough of robot technology,intelligent robots are now used in various fields.As an important member of intelligent robots,shopping robots are closely watched by experts and scholars from various countries.According to the social needs of people who find it difficult to find a product location in a large shopping mall,this thesis has independently designed a smart shopping robot.This study would include the following parts:(1)For the problem of simply relying on distance information to make shopping guide robots have low following stability in a complex environment such as shopping malls,this thesis uses visual tracking technology to i mprove the stability of the follow-up function of shopping guide robots;Aiming at the problem that the tracking accuracy of traditional KCF(Kernerlized Correlation Filter)algorithm is not high when the target scale changes,a fast scaling ada ptive KCF algorithm is proposed;In order to make the shopping guide robot only follow the customers,this thesis combines the pedestrian detection with the fast scale adaptive KCF algorithm to realize the following function of the customers.The experimental results show that the algorithm adopted in this thesis improves the tracking accuracy,at the same time the stability of the shopping robot system is improved.(2)Aiming at the problem that shopping guide robot has a high demand for obstacle avoidance under the complex environment,such as shopping malls,this thesis improves the obstacle avoidance ability by combining the A* algorithm with the DWA algorithm for the mixed path planning;To deal with the phenomenon of robotic oscillations under abnormal conditions,an abnormal behavior processing mechanism is designed.Experiments show that shopping guide robots can handle abnormal behaviors and improve the stability of the system.(3)A human machine interactive terminal based on C/S mode is designed.In order to solve the communication problems between robots and mobile terminals,the mobile communication architecture of the shopping guide robot is designed.Because the map file generated during the interactive mapping process is too large to be transmitted in the network,the map data is compressed and a communication protocol for data transmission is formulated,which solves the problem of efficient map transmission under a wide range of moving conditions and provides technical support for remote data access and control of mobile robots.(4)Finally,interactive map construction,interactive navigation and interactive visual follow-up functions are designed and implemented.Through the experiment of simulated shopping environment guidance,the results show that the method used in this thesis greatly improves the stability and robustness of the system.The guidance robot can help the customers to find the goods that they want to buy,and improve the customer's purchasing efficiency.