Abstract
This paper proposes a distributed intelligent assistant robotic system in order to improve the quality of the elderly people's life in the population aging society. The system is composed of embedded distributed sensor networks and multirobot intelligent platform. In the proposed system, we use SP2ATM (simultaneous path planning and topological mapping) with RBPF (Rao-Blackwellized particle filter) for path planning and localization of mobile robots. In order to perform service tasks, an accurate and reliable 3D environment map is reconstructed by using an effective 3D reconstruction technique from multiview stereo. Besides, the system provides user human tracking services based on multifeature mean shift under the double-layer locating mechanism. To improve the feasibility and reliability of the system, this proposed system is developed based on distributed control technology RTM (robot technology middleware). This paper presents the architecture of the proposed system and the experimental results verify effectiveness of the approaches.
Highlights
Assistance robotic system is important for elderly people, with the increasingly serious aging problem
We focus on modular design theory and the key technologies for assistance robotic system
To verify the effectiveness of this proposed intelligent assistant robotic system based on distributed technology RTM, the experiments are performed in the laboratory
Summary
Assistance robotic system is important for elderly people, with the increasingly serious aging problem. Service robot has been widely researched, some key technologies such as path planning, 3D reconstruction, and human tracking are bottlenecks for developing intelligent assistant robotic system. To address this problem, researchers have done many works. We developed SP2ATM algorithm with RBPF to realize path planning in an unknown environment This algorithm effectively improves the location precision of mobile robots and lowers computation complex to O(N⋅log 2M). In order to enable the system to be extended and integrated easier for a new system or new applications, distributed control technology RTM is introduced into the developed assistance robotic system.
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