Path Planning And Target Recognition For Hand-Eye Collaborative Service Robots

Survey data from the International Federation of Robotics shows that service robots have a large demand and significant research value,and are favored by researchers in various countries.The robotics-related development strategies released by China’s State Council ministries and commissions also emphasize the importance of actively developing service robots.However,at present,domestic delivery service robots usually require manual assistance to complete the delivery process,and there are problems such as single function and low level of intelligence.To solve the above problems,this paper proposes a hand-eye collaborative service robot,which mainly focuses on the path planning and target recognition of the service robot in the following aspects:(1)Build the mechanical system of the service robot and design the control system.Built the mechanical system of the service robot to verify the function and analyze the effect of the algorithm.Designed the control system of the service robot and configured the software environment.(2)Study the map construction and path planning of service robots.Establish kinematic model and odometry model of service robot for robot motion control.Use the Gmapping algorithm based on the improved RBPF for map construction.Select the A* algorithm with the best performance for path planning of the robot.Perform local path planning based on DWA algorithm to achieve dynamic obstacle avoidance function.(3)Perform hand-eye collaboration system modeling and study the target recognition algorithm.Establish the kinematic model of the robotic arm,study the trajectory planning of the robotic arm,and implement the obstacle avoidance function.Establish a hand-eye interaction relationship model to realize the positional transformation from the target to the robotic arm.Construct control experiments to optimize the parameters of the target recognition algorithm and realize the recognition grasping function of the hand-eye collaborative system.(4)Conduct experiments to verify the functionality of the service robot.Build an experimental scenario and test the complete functionality of the robot in that scenario.Finally,verify the feasibility of the designed service robot by analyzing the experimental data.Service robots with added recognition and grasping functions can work in offices,homes,hospitals and other indoor application scenarios,serving the elderly,infirm,disabled and pregnant groups or busy business office workers,with a wide range of use.