Design and Implementation of Home Service Robot

被引：2

作者：

Lai Zhi-jie ^{[1
]}

Cao Ming-yu ^{[1
]}

Zhang Zhi-ming ^{[1
]}

Yu You-ling ^{[1
]}

机构：

[1] Tongji Univ, Coll Elect & Informat Engn, Shanghai, Peoples R China

来源：

2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年

关键词：

Home Service Robot; Simultaneous Localization and Mapping; Path Planning; Robot Navigation;

D O I：

10.1109/CAC51589.2020.9327151

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

With the aging problem in modern society getting severe, the demand for intelligent housekeepers is rapidly increasing. In this paper, we design and implement a home service robot. On the basis of Robot Operating System (ROS), the robot is equipped with 2D LiDAR and RGB camera for perception, which enables the particle filter based Simultaneous Localization and Mapping (SLAM), A-star algorithm based path planning, Adaptive Monte Carlo Localization based navigation, and MobileNet-SSD based object detection. Results of empirical experiments demonstrate its capability to establish environment map, perform accurate positioning, and navigate through obstacles without collision, showing its features such as low-cost, intelligence, modularity, etc.

引用

页码：3541 / 3546

页数：6

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