基于机器人服务任务导向的室内未知环境地图构建

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吴皓, 田国会, 陈西博, 张涛涛, 周风余. 基于机器人服务任务导向的室内未知环境地图构建[J]. 机器人, 2010, 32(2): 196-203.. WU Hao, TIAN Guohui, CHEN Xibo, ZHANG Taotao, ZHOU Fengyu. Map Building of Indoor Unknown Environment Based on Robot Service Mission Direction. ROBOT, 2010, 32(2): 196-203..

摘要针对室内移动机器人的服务任务，提出一种包括全局语义层、区域规划层、局部空间层的3级室内环境地图，使机器人不仅掌握面向导航的环境平面结构，而且还了解局部复杂空间的3维栅格地图及描述房间和物品功能及关联、归属关系的语义信息．首先，机器人依据视觉获得的深度信息及QR码标签提供的物品操作功能信息进行3维栅格地图和物品功能图的构建，形成局域层空间描述．其次，基于贝叶斯估计算法构建区域层的2维栅格地图，同时形成无向加权图，构成区域规划层．最后，基于谱聚类算法构建具有房间分割功能的拓扑地图，结合物品功能图，获得房间功能及房间之间关联关系、物品与房间归属关系等的语义信息，形成全局语义拓扑地图．仿真试验表明，环境地图的3级结构适用于室内机器人的服务任务，可以理解人的语义命令，生成合理的服务路径，并确保机器人在复杂环境中安全运行．

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	吴皓
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	周风余

关键词 ：服务机器人, 3级地图结构, QR码, 3维栅格地图, 语义拓扑地图

Abstract：Three-level indoor space maps including global semantic layer, region planning layer and local space layer are built for indoor mobile robot service mission. Using the space maps, the robot not only knows the plane structure of the environment for navigation, but also obtains three-dimensional grid map of local complicated space and semantic information which can describe the function, relationship and ascription of the room and the object. Firstly, depth information acquired by vision and object function information acquired by QR (quick response) code label are used to build a three-dimensional grid map and an object function map which describe local space. Then a planar grid map is built based on Bayesian estimation algorithm, simultaneously an undirected weighted map is formed, so the region planning layer is achieved. Lastly, roomdivision topology map is built based on clustering algorithms, and semantic information including functional information and relationship of rooms, object-room ascription is obtained, which constitute global semantic topology map. The simulation results show that three-level indoor space maps are applicable to indoor robot service tasks by understanding human semantic statement, producing reasonable service path, and ensuring robot running safely in complicated environment.

Key words： service robot three-level map structure QR (quick response) code three-dimensional grid map semantic topology map

收稿日期: 2009-05-07 录用日期: 2010-01-11

TP24

基金资助:国家863计划重点资助项目（2006AA040206）；国家863计划资助项目（2009AA04Z220）；留学回国人员科研启动基金资助项目（教外司留[2007]24号）

通讯作者: 吴皓 E-mail: wh911@sdu.edu.cn

作者简介: 吴皓（1972- ），女，博士生，副教授．研究领域：机器人定位与地图构建，智能空间，多机器人系统的协调与协作．
田国会（1969– ），男，教授，博士生导师．研究领域：服务机器人，智能空间，多机器人系统的协调与协作．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I2/196

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