一种服务机器人家庭全息地图构建方法研究*

提出了一种满足家庭服务机器人环境认知和智能服务需要的融合环境和目标信息的家庭全息地图。设计了局部几何—全局拓扑的全息地图分层表示模型。分析了机器人坐标系、局部环境坐标系和目标的相对关系，给出了机器人局部环境自定位算法和基于坐标变换的服务机器人全息地图构建方法。家庭环境下机器人实物实验表明，基于局部几何—全局拓扑表示的全息地图，服务机器人路径规划和任务执行效率得到有效提升。

Research on constructing of household holographic map for service robot

This paper proposed a novel household holographic map, which combined information of environment and objects, to meet the needs of intelligent cognition and operation for home service robot. It designed a locally-metric and globally-topological hierarchical model. Analyxed the relationships between robot coordinate, local environment coordinate and object, and then presented both the algorithm for service robot self-localization within local environment and the methods to build the holographic map based on coordinate transformation. The robot experiments in real household environments show that according to the holographic map described with the hierarchical metric-topological model, the efficiencies of both path planning and task execution for robot are obvious improved.