Mobile robot in domestic environment

摘要

This paper describes MRL @Home robot. Our team has participated in RoboCup international competition since 2009. The leading improvement of MRL @Home since last year is developing Robot Operating System as the main control platform of robot. ROSARIA is recruited to control Pioneer 3-AT robot. It controls and receives position estimates, sonar and bumper, and all other current operating data sent by the robot platform. GMapping is used for navigation which is a highly efficient particle filer to learn grid maps from laser range data. Face recognition is achieved by Eigenfaces and object recognition is done by clustering algorithm. Collision free arm navigation permits the robot to grasp the objects. Speech recognition is performed by Kinect and Microsoft Speech Engine. To achieve better recognition, Speech Recognition Grammar Specification (SRGS) is used. And, a couple of improvements have been done in mechanical and electrical platform as well. Using this approach and efficient mobility MRL@home took first place in the competition held in IranOpen 2013.