Research on constructing of household holographic map for service robot
一种服务机器人家庭全息地图构建方法研究*

This paper proposed a novel household holographic map, which combined information of environment and objects, to meet the needs of intelligent cognition and operation for home service robot. It designed a locally-metric and globally-topological hierarchical model. Analyxed the relationships between robot coordinate, local environment coordinate and object, and then presented both the algorithm for service robot self-localization within local environment and the methods to build the holographic map based on coordinate transformation. The robot experiments in real household environments show that according to the holographic map described with the hierarchical metric-topological model, the efficiencies of both path planning and task execution for robot are obvious improved.