Design of Object Recognition and Operation System for Escort Robot

Abstract

In daily life, manipulating objects is one of the most frequent behaviors which is often difficult for the elderly and the disabled to complete due to physical factors. With the aging trend of society and the development of robot technology, it is a trend to use the escort robot to assist people in manipulating objects. Therefore, the object recognition and operation of the escort robot is one of the key research directions of robot technology. It contains many key technologies, such as object recognition technology, motion planning and control technology and communication technology, which determine the ability of escort robot to interact with the environment to provide high quality service. In this paper, an object recognition and operation system for escort robot is developed which includes object recognition module, motion planning and control module and communication module. In the object recognition module, an improved SURF algorithm is designed to match the feature points and recognize the objects, which has a high matching accuracy. Motion planning and control module based on Moveit realizes the planning and execution of actions independently. In the communication module, dedicated communication protocols are designed and applied to ensure that each module can work independently, stably and efficiently. In addition, the system is tested and verified in this paper.