Research on Multi-Sensor Fusion of Layered Intelligent System for Indoor Mobile Robot

摘要

As the demand for smart home grows, robot manufacturers develop new indoor mobile robots, which allow for intelligent and high accuracy of the robot system. However, there is not such a standard system. In order to solve the above problems, this work focuses on the main problems of multilayer intelligent system on the indoor mobile robot: the recognition of voice information with semantic understanding and coordinate matching, which guiding the robot through the internal positioning and navigation algorithm to reach the matching coordinates. The proposed Multi-sensor fusion of layered intelligent system integrates different modules where each module encapsulates a number of related algorithms responsible for robot control in human-robot collaboration, such as the AMCL locating algorithm. The goal is to extract high-level voice information from human-robot conversions and control the robot to the target point. The system consists of several modules as sensor fusion, speech recognition, semantic understanding, coordinate matching, map construction, robot positioning, path planning and feedback processing. The general architecture and main approaches are presented as well as the future developments planned.