摘要
介绍了护士助手机器人在医院环境中进行护理任务时实现自主导航定位,找到目标房间的方法.本方法采用拓扑地图定义结构化环境,使用绝对和相对组合定位方案进行护士助手机器人的空间定位,其中绝对定位采用的是RFID路标定位法,而相对定位采用的是航位推算法.采用局部栅格地图进行局部路径规划,使护士助手机器人在局部区域找到最适合的运动路径.实验表明采用这些方法护士助手机器人可以在一定程度上实现避障及找到并进入目标房间.
A method the nurse aided robot used to realize self-navigation and localization in hospital is introduced. The structured environment is defined by the topology map, which makes it possible to use the combination of absolute location and relative location to locate the Nurse Aided Robot. Absolute location is defined by RFID while relative location is defined by dead reckoning. The local path planning which is realized by local grid map is applied by the robot to find the optimum motion path in the local region. Experiments show that the robot can avoid barriers and enter the destination room while finding the entrance under certain conditions.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2007年第7期1166-1171,共6页
Journal of Harbin Institute of Technology
基金
黑龙江省自然科学基金资助项目(60175029)
关键词
护士助手机器人
拓扑地图
路标定位
nurse aided robot
topology map
rout marking allocation
