Development of an indoor robot guide

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Dr. Kiss Bálint
Department of Control Engineering and Information Technology

Nowadays more and more popular electronic devices are capable of autonomous operation. These include mobile robots with legs or wheels, or even aerial or underwater UAVs. This work is about creating a control environment for a robotic guide which operates in an indoor exhibition space and goes to the exhibition points specified by the user. Description of the algorithms that implement the functions and their implementations are all presented.

The user interface has been designed to be used by people without any training in this direction. The user can mark the obstacles or prohibited areas through a visual interface. The robotic guide has to avoid these obstacles. The robot is also capable of detecting and avoiding obstacles popping up unexpectedly. The estimates of the position, orientation and the solution of the path planning problem are discussed. In order to follow the planned path, the control of the robot's movement has to be precise. The robot can initiate the play of multimedia files in order to make the exhibition points more engaging. The robot is capable of detecting several kinds of malfunctions and send messages to the user.

The program is tested in both simulation and real environments. The experiences with the test cases are also presented together with perspectives of further development.


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