智能家居环境中基于移动机器人的失物搜索（英文）

发布时间：2022-02-18 21:59

　　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。 

【文章来源】：Frontiers of Information Technology & Electronic Engineering. 2019,20(08)EISCICSCD

【文章页数】：14 页

【文章目录】：
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



本文编号：3631625