家庭服务机器人智能空间技术研究与进展_田国会

:2007-08-16:([2007]24);“863”(:2006010402002):(1969-),,,,.、、.、、、.E-mail:[e-mail]　:1672-3961(2007)05-0053-07田国会,李晓磊,赵守鹏,路飞(　,　　　250061):智能空间技术是一个刚刚兴起的前沿课题.应用于家庭服务机器人的智能空间技术,就是把感知器件、执行器件分布地安装在空间中相应的位置,实现对空间内部人和物的全面感知,从而通过执行器实现相应的服务任务;同时能够为机器人提供更加完备的环境信息,使得机器人本身可以降低对于本体携带感知器件的要求,能够“轻装上阵”,在未知或半未知的动态环境中实现更加快捷、准确、稳定的家庭服务工作.系统总结了智能空间技术的发展现状,并详细介绍了应用于家庭服务机器人的智能空间的构成、特点及其主要研究内容,对其所涉及的相关技术进行了介绍,最后给出了家庭服务机器人智能空间技术研究的新方向.:家庭服务机器人;智能空间;自主定位与导航;地图构建:TP242　　　:AResearchanddevelopmentofintelligentspacetechnologyforahomeservicerobotTIANGuo-hui,　LIXiao-lei,　ZHAOShou-peng,　LUFei(SchoolofControlScienceandEngineering,　ShandongUniversity,　Jinan250061,　China)Abstract:Intelligentspacetechnologyisanewresearchfield.Theintelligentspacetechnologyforahomeser-vicerobotcanperceivemenandobjectsinspacemorecompletelyandrealizetherelevantservicetaskbyset-tingsensorsandactuatorsdistributelyinthespecifiedpositionsofspace.Simultaneouslytheservicerobotcanobtainmorecomprehensiveenvironmentalinformationthroughtheintelligentspace,insteadofbeingequippedwithtoomanysensorsitself,andtheservicerobotcanworkmorerapidly,accuratelyandstablywithlightpacksinanunknownorsemi-unknowndynamicenvironment.First,theresearchsituationofintelligentspacetechnologywassummarized,thenthestructure,characteristicsandkeyresearchtopicfortheintelligentspaceforahomeservicerobotwereintroduced,andtherelevanttechnologieswerealsoproposed.Finally,thenewresearchdirectionoftheintelligentspaceforahomeservicerobotwasdiscussed.Keywords:homeservicerobot;intelligentspace;autonomouslocalizationandnavigation;mapbuilding0　引言,【1-2】..,,.、,　37　5Vol.37　No.5　　　　　　　　　　　(　　)JOURNALOFSHANDONGUNIVERSITY(ENGINEERINGSCIENCE)　　　　　200710　Oct.2007　.,.、、,,,.,,“863”.,.,.,,;,、,,;,、,,,;,、,,,.,.1996Hashimoto“”,PC、CCD(chargecoupleddevice)、、,【3】..,.,,.,,、、,,.,,、.1　智能空间技术、、,、、.,.(MITAILab)IntelligentRoom【4】.SmartClassroom【5】,,、,.(Stanford)InteractiveWorkspace、(GIT)AwareHome、(MicrosoftResearch)EasyLiving、(GMD)iLand.,,,ADACHashimoto(iSpaceinter-continentalproject),,,Internet【6】.(smartcommunity),,,.2　家庭服务机器人智能空间、,、、,,,,,,、、.、、、,、,、、.,:1),,,;　54　　　　　　　　　(　　)37　2),,、【7】;3),;4),;,,,;5).、Internet,、.,.6).、、,、、、、、.,:1).,;2).、、、,,,,、、、;3),.、,、、,;4).(),,,;5).、、、、,、,、;6).,、、、、、,,,,.3　主要研究内容,:1)(artifi-ciallandmark)、(CCD、-RFTag)、(、)、、,-;,,、,、.2),、,,,,,,、.:1　,,.、、、.　5,:55　　　　2　,,、.,,,,.,,,,,,.3　,,-.,,.,,,,,,.,.3).、,,、.QRCode、,,.4),,、.,,,.5),、;、,、.4　相关技术,:1)、、,80%,,【8】.,,,.,.,.,,.,.2)、、,.,、,、.:、、.ElfesMoravec.,:“”“”.0“”,1“”【9-13】.,.,,.,【14-15】.,、、.【16-17】Brooks,Mataric.,,.,,.　56　　　　　　　　　(　　)37　,.,,.,.3),,【18】.,、.,.,,.,,.,1992FaugerasMaybank【19-20】.、,,、,.,,,【21-27】.:.,Krup-pa.Triggs.,,,34＊4.,,【28-31】,.4)2090,、、,、【32】.,、、、、.,;,,,,【33-37】..,.:、.21,20032《》,;2004《IEEESpectrum》:,.,.,,:(1):,,,;(2):,,,,,;(3):,,.,,;(4):,,,,;(5)::;(6):,,,;(7):　5,:57　　　　,、、,;(8):,,,.,.、、..5　总结与展望,,,.,,.,,,、.,,,,、.:[1].[J].,2007,1:28-29.TIANGuo-hui.Theamplituderesearchoftheintelligentspacetechnologyforhomeservicerobot[J].InternationalAcademicDevelopment,2007,1:28-29.[2]TIANGuo-hui,DUANFeng,ARAITamio.Modulardesignforhomeservicerobotsystembasedonhierarchicalcoloredpetrinets[C]Proceedingofthe9thInternationalConferenceonIn-telligentAutonomousSystem.Tokyo,Japan:IOSPress,2006:542-549.[3]LEEJOO-HO,ANDONORIAKI,HASHIMOTOHIDEKI.De-signpolicyofintelligentspace[C]ProceedingsofIEEESMC'99InternationalConferenceonSystems,ManandCybernet-ics.Tokyo,Japan:IEEEPress,1999:77-82.[4]BROOKSRA.Theintelligentroomproject[C]ProceedingsoftheSecondInternationalconferenceonCognitiveTechnolo-gy.Fukushima,Japan:IEEEPress,1997:271-278.[5]SHIYuanchun,XIEWeikai,XUGuangyou.Thesmartclass-room:mergingtechnologiesforseamlesstele-education[J].PervasiveComputing,2003,2(2):47-55.[6]VANIJJIRATTIKHANRANGSARIT,CHOWMO-YUN,SZEMESPETER,etal.Mobileagentgainschedulercontrolininter-continentalIntelligentSpace[C]The2005IEEEInter-nationalConferenceonRoboticsandAutomation.Barcelona,Spain:IEEEPress,2005:1115-1120.[7]LIXiaolei,TIANGuohui,XUEHongtao,etal.Studyonob-jectoperatingsystemforservicerobotbasedonartificialmarks[C]ProceedingsoftheIEEEInternationalConferenceonAu-tomationandLogistics,Jinan,China:IEEEPress,2007:603-607.[8].[M].:,2001.ZHANGYu-jin.Imageengineering[M].Beijing:TsinghuaPress,2001.[9]ELFESA.Occupancygrids:astochasticspatialrepresentationforactiverobotperception[C]ProceedingsoftheSixthCon-ferenceonUncertaintyinArtificialIntelligence.Cambridge,Britain:IEEEComputerSocietyPress,1990:60-70.[10]YAMAUCHIB.MORAVEC.Mobilerobotlocalizationindy-namicenvironmentsusingdeadreckoningandevidencegrids[C]ProceedingsoftheIEEEInternationalConferenceonRoboticsandAutomation,MinneapolisMinnesota,USA:IEEEPress,1996,2:1401-1406.[11]ELFESA.Usingoccupancygridsformobilerobotperceptionandnavigation[J].IEEEJournalofComputer,1989,22(6):46-57.[12]MORAVECH.Sensorfusionincertaintygridsformobilero-bots[J].SensorDevicesandSystemsforRobotics,1989:243-276.[13]ELFESA.Sonar-basedreal-worldmappingandnavigate-on[J].IEEEJournalofRoboticsandAutomation,1987,3(3):249-265.[14]CHONGK,KLEEMANL.Mobilerobotmapbuildingfromanadvancedsonararray