家庭服务机器人自主定位控制  

Research on Home Service Robot Positioning Technology

作　　者：王刚[1] 周军[1] 苏晓明[2] WANG Gang;ZHOU Jun;SU Xiao-ming(Taizhou Institute of Science and Technology,Nanjing University of Science and Technology,Taizhou,Jiangsu 225300,China;School of Science,Shenyang University of Technology,Shenyang,Liaoning 110870,China)

机构地区：[1]南京理工大学泰州科技学院,江苏泰州225300 [2]沈阳工业大学理学院,辽宁沈阳110870

出　　处：《计算技术与自动化》2021年第3期13-17,共5页Computing Technology and Automation

基　　金：国家自然科学基金资助项目(61074005);江苏高校“青蓝工程”优秀教学团队资助项目。

摘　　要：家庭服务机器人是目前机器人领域的一个研究热点,家庭服务机器人的研发可以减轻社会和家庭负担,缓解人口老龄化等问题。自主定位技术是家庭服务机器人研发的核心技术之一。本文针对家庭服务机器人定位技术研究,进行了其机械结构的设计以及传感器的选型提供方案,也对ROS编译环境进行介绍。最重要的是设计出一种基于激光SLAM技术为核心的传感器数据融合方法适用于家庭的微动态环境下的定位方法。在对系统进行运动学模型和坐标系模型建模的基础上,提出一种传统的Hector SLAM算法并对其进行改进成自适应无迹卡尔曼(AUKF)融合算法,提高了定位的稳定性和准确性。Home service robot is a research hotspot in the field of robotics.The research and development of family service robot can reduce the burden of the family and the aging of the population.Autonomous positioning technology is one of the core technologies in the research and development of home service robots.This paper focuses on the research of home service robot positioning technology,the design of its mechanical structure and the selection of sensors,and also introduces the ROS compilation environment.The most important thing is to design a sensor data fusion method based on laser SLAM technology,which is suitable for home positioning in micro-dynamic environment.Based on the kinematics model and coordinate system model of the system,a traditional Hector SLAM algorithm is proposed and improved into an adaptive unscented Kalman(AUKF)fusion algorithm to improve the stability of the positioning and accuracy.

关 键 词：服务机器人 定位导航 数据融合 激光SLAM 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]