智能家居环境中基于移动机器人的失物搜索（英文）

论文摘要

智能家居可提供补充信息以帮助家居服务机器人。本文利用智能家居环境中机器人所获取的历史轨迹数据,提出一种机器人失物搜索(MIF)系统。首先,提出一种多传感器融合方法定位和跟踪用户。其次,利用人物历史轨迹所包含的知识,提出一种路径规划方法生成机器人搜索路径。再次,应用一种基于卷积神经网络的实时物体检测单元检测目标丢失物品。基于搭建的智能家居测试平台进行MIF系统相关实验。最后,实验结果验证了所提方案的准确性和有效性。

论文目录

• 1 Introduction
•   1.1 Motivation
•   1.2 Related work
• 2 Overall concept
• 3 Hardware platform
•   3.1 Hardware setup for the service robot
•   3.2 Hardware setup for a smart home environment
•     3.2.1 Smart home testbed
•     3.2.2 Passive infrared sensor network
•     3.2.3 Wearable sensor node
•   3.3 User interface design
• 4 Methodology
•   4.1 Human location estimation
•     4.1.1 Motion model
•     4.1.2 Human location based on PIR observations
•     4.1.3 Human location based on activity statuses
•     4.1.4 Sensor fusion for localization
•   4.2 Search path planning
•     4.2.1 Map quantization and region partitioning
•     4.2.2 Integrating knowledge and path planning
•   4.3 Vision-based object recognition
• 5 Experimental evaluation
•   5.1 Experimental procedure
•   5.2 Search results
• 6 Conclusions and future work
• Compliance with ethics guidelines

文章来源

类型: 期刊论文

作者: Qi WANG,Zhen FAN,Wei-hua SHENG,Sen-lin ZHANG,Mei-qin LIU

关键词: 家居服务机器人,智能家居,异质传感器,机器人自主失物搜索

来源: Frontiers of Information Technology & Electronic Engineering 2019年08期

年度: 2019

分类: 信息科技,工程科技Ⅱ辑

专业: 建筑科学与工程,自动化技术

单位: College of Electrical Engineering, Zhejiang University,School of Electrical and Computer Engineering, Oklahoma State University

基金: Project supported by the Basic Public Research Program of Zhejiang Province,China(No.LGF18F030001),the Open Research Project of the State Key Laboratory of Industrial Control Technology,Zhejiang University,China(No.ICT1800414)

分类号: TP242;TU855

页码: 1036-1049

总页数: 14

文件大小: 12978K

下载量: 227