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A tour-guide robot: Moving towards interaction with humans

AuthorsAlvarado Vásquez, Biel Piero E.; Matía, Fernando
KeywordsFuzzy systems
Indoor localization and navigation
Task planning
Social robotics
Human–machine interaction
Issue DateFeb-2020
PublisherPergamon Press
CitationEngineering Applications of Artificial Intelligence 88: 103356 (2020)
AbstractThe aim of this research project is to develop a smart social robot showing sufficient intelligence to work as atour-guide in different environments. In doing so, both a software and a hardware architecture are proposed,the different modules of which, such as a laser, cameras, platform, face, and voice, among others, controlthe different components of the robot. Those components are in turn used by other modules designed fornavigation and interaction. A sensor fusion for the purposes of localization is implemented by means of anExtended Kalman Filter, which is one of the navigation module components, together with the proposed fuzzycontrollers needed for path following. A fuzzy emotion system that controls the face and the voice modulesalso forms part of this architecture for assisting interaction. Finally, all the modules are controlled with acustomized programming language that is a mixture of C, Pascal, and JavaScript. The modules are optimizedfor immediate execution to achieve realistic human–machine interaction.
Publisher version (URL)https://doi.org/10.1016/j.engappai.2019.103356
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