摘要
为实现低配机器人完成较高智能的服务,设计并实现了一款小型智能家居机器人。该机器人能高效、自主地建立环境地图,规划出最优路径到达目标点,从目标点取物后沿原路返回。机器人通过红外低配传感器感知未知环境,并建立栅格地图;通过宽度优先搜索规划出两点间的最优路径。采用北京博创的"创意之星"模块化机器人平台设计并搭建了一款具有抓取功能的轮式机器人,将提出的算法在机器人上进行了实现。实验表明,提出的算法可在低配机器人上实现并完成指定的功能,该机器人适用于家居环境,能辅助老年人完成一定的取物操作,对机器人的发展起到了积极的推动作用。
A mini intelligent robot in home environments is designed and implemented. The robot is able to build a grid map of an unknown home environment efficiently and autonomously, plan an optimal path between two points and get back an object by same path. This robot senses a home environment only by Infrared sensors. It plans an optimal path by breadth-first search. A wheeled robot with arms is designed and built based on ＂Inno Star＂ from Bochang. The proposed algorithms are implemented on this robot. Experiment results show the proposed algorithms can be run on low-level robots. This robot can be used in home environments and assist the elders to get back an object. Therefore, this work has positive effect on boosting the development of robot for elderly people assistance.
作者
刘淑华
冀芒来
朱蓓蓓
张梦宇
李润敏
LIU Shuhua JI Manglai ZHU Beibei ZHANG Mengyu LI Runmin(School of Computer Science and Information Technology, Northeast Normal University, Changchun 130117, China)
出处
《吉林大学学报（信息科学版）》
CAS
2017年第2期170-174,共5页
Journal of Jilin University（Information Science Edition）
基金
吉林省发改委基金资助项目([2013]779)
吉林省教育厅基金资助项目([2016]503)
关键词
智能机器人
家居环境
地图建立
路径规划
红外传感器
intelligent robot
home environments
map building
path planning
infrared sensors
