Research of the Localization of Restaurant Service Robot

摘要

This paper designs a restaurant service robot which could be applicable to providing basic service, such as ordering, fetching and sending food, settlement and so on, for the customers in the robot restaurant. In this study, both three landmarks positioning and landmark-based localization algorithms are proposed to localize the mobile robot with rough precision in the restaurant. And Optical Character Recognition (OCR) technology is used to distinguish the unique table number of different landmarks. When the high localization precision must be granted around the pantry table, the RFID-based localization algorithm is proposed to localize the mobile robot. Various experiments show that the proposed algorithms could estimate the robot pose reasonably well and could accurately evaluate the localization performance. Finally, the proposed service robot could realize real-time self-localization in the restaurant.