CAJ | 학술논문

　　服务机器人与智能空间技术相结合的方法可以扩展机器人的感知和决策能力，减轻其负担。基于UPnP中间件技术搭建了服务机器人智能空间软件平台，采用面向服务架构设计结合多智能体的应用构造模式，以服务为基本单元完成多种智能设备和机器人的实现，并设计中心管理节点对服务机器人智能空间进行全局调度和操作。实验表明，服务机器人智能空间软件平台具有性能稳定、动态自适应性高、设备间耦合度低、可扩展性强等特点，为服务机器人智能空间更深入的研究和推广实用化打下较好的基础。
　　복무궤기인여지능공간기술상결합적방법가이확전궤기인적감지화결책능력，감경기부담。기우UPnP중간건기술탑건료복무궤기인지능공간연건평태，채용면향복무가구설계결합다지능체적응용구조모식，이복무위기본단원완성다충지능설비화궤기인적실현，병설계중심관리절점대복무궤기인지능공간진행전국조도화조작。실험표명，복무궤기인지능공간연건평태구유성능은정、동태자괄응성고、설비간우합도저、가확전성강등특점，위복무궤기인지능공간경심입적연구화추엄실용화타하교호적기출。
The method of combining service robot and intelligent space can extend robot’s sensing and decision-making ability, reduce robot’s burden. This paper completes the design of service robot intelligent space software-platform based on UPnP mid-dleware, adopts the service-oriented architecture plus multi-agent application model, implements various intelligent devices and robots by using service as basic unit, and designs a central-node to schedule and manage service robot intelligent space from a global perspective. Experiments show that the software-platform had many merits such as robust performance, high degree of dy-namic adaption, loose-coupled device, good expandability, et al. The research has laid a sound foundation for the further study and practicality of service robot intelligent space.