System And Application Of Natural Human-machine Interaction Based On Autonomous Navigation

The robotics industry was born in 1956.After more than 60 years of vigorous development,robots have been widely used in all walks of life.Nowadays,with the advent of the "Artificial Intelligence" era,service robots in the robotics industry gradually opens the market and takes a place in daily life,combined with the major breakthroughs of image processing and computer vision technologies.This paper proposes a natural human-machine interaction system based on autonomous navigation.The system is used in a practical situation which carries robot NAO as application terminal and specific office as application scene.It implements the service functions of natural human-machine interaction and autonomous navigation in scene between robot NAO and the tester.This system is mainly divided into 2 modules: the autonomous location and navigation module in scene and the natural human-machine interaction module,and applies itself on NAO to implements an intelligent office assistant system.Firstly,in the autonomous location and navigation module in scene,three parts are divided which respectively involve the reconstruction of 3D module map in scene,the autonomous location in scene and the autonomous navigation.This system adopts the RGB-D SLAM technology to reconstructs the 3D map in scene with color image and depth image taken by Kinect.The reference points are marked in scene for assisting autonomous location.At last,A-star algorithm with grid map is used for path planning,and combine obstacle avoidance mechanism for autonomous navigation.Then,in the natural human-machine interaction module,the robot carrying the system will perform the movement based on the autonomous positioning technology in the scene and photograph the scene environment through the robot camera.Once the face information appears in the image,the face tracking technology is used.The tester's face is tracked,and the self-motion mechanism is invoked to move to the face of the tester for face-to-face active interaction.After completing the tester identity authentication,the tester's guided visit is completed in conjunction with the voice recognition and autonomous navigation technology.Finally,this system carrying robot NAO as application terminal and specific office as application scene,implements an intelligent office assistant system.The practical applicationis accomplished based on the plentiful sensors of robot NAO.