Intelligent Distributed Control of Autonomous Service Robots Based on RTM

The relevant technologies of fixed-point object transfer task for robot in an indoor environment were studied based on robot technology middleware (RTM) to improve the quality of service and levels of intelligence for intelligent service robot system. Firstly, to improve the stability and development efficiency of system, a method of granularity partition for functional modules was proposed by fuzzy dendrogram clustering algorithm and DS (Dempster-Shafer) evidence theory based on the established functional modules set. The dynamic compact hybrid map was built based on the bottom grid map established by Rao-Blackwellized particle filter algorithm to solve the problem of simultaneous localization and mapping in the process of robot fixed point object transfer. Then the memory tracking rules were used to implement fixed-point navigation of mobile robot. To tackle the problem of object transfer, the improved saliency region extraction algorithm was used to extract the coordinates of spatial objects. Then the task of grasping objects were completed by intelligent robot arm platform. The designed system was tested by robot mobile platform and UR5 robot arm which was verified the effectiveness and feasibility by the proposed distributed control strategy.