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View all- da Rosa Tavares JVictória Barbosa J(2020)Ubiquitous healthcare on smart environments: A systematic mapping studyJournal of Ambient Intelligence and Smart Environments10.3233/AIS-200581(1-17)Online publication date: 17-Nov-2020
Probabilistic search of human by autonomous mobile robot
Article No.: 7, Pages 1 - 8
Abstract
This paper focuses on the development of an approach for an indoor mobile robot to search the elderly person living alone in an unstructured and dynamic household environment. In order to reach the elderly person, to perform different tasks or in case of an emergency, the mobile robot needs to navigate autonomously in the home environment with the perception of presence of the person at a particular place at a specific time. The estimation of possible locations of a person is carried out using a behavior based Markov Decision Process (MDP). The implemented methodology centers two criteria for searching the person, namely distance to the destination and the probability of finding the person at that location. This estimated destination is reached autonomously by the robot. The autonomous navigation is supported by building a detailed grid map of the environment and planning a path to the required target. Upon reaching the destination, a search for the human face is carried out using a Haar cascade classifier. To validate the methodology over a longer period of time, a 3D simulated environment has also been created. This environment resembles a real house environment and features simulation of a small robot, Artos, which performs the task of searching and a human simulation that walks around in different rooms. The results from simulation shows effectiveness of the developed methodology.
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Index Terms
- Probabilistic search of human by autonomous mobile robot
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Published In
May 2011
401 pages
ISBN:9781450307727
DOI:10.1145/2141622
- Program Chairs:
- Margrit Betke,
- Ilias Maglogiannis,
- Grammati Pantziou
Copyright © 2011 ACM.
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Sponsors
- NSF: National Science Foundation
- Foundation of the Hellenic World
- ICS-FORTH: Institute of Computer Science, Foundation for Research and Technology - Hellas
- U of Tex at Arlington: U of Tex at Arlington
- UCG: University of Central Greece
- Didaskaleio Konstantinos Karatheodoris, University of the Aegean
- Fulbrigh, Greece: Fulbright Foundation, Greece
- Ionian: Ionian University, GREECE
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Association for Computing Machinery
New York, NY, United States
Publication History
Published: 25 May 2011
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PETRA '11
Sponsor:
- NSF
- ICS-FORTH
- U of Tex at Arlington
- UCG
- Fulbrigh, Greece
- Ionian
PETRA '11: The 4th International Conference on PErvasive Technologies Related to Assistive Environments
May 25 - 27, 2011
Crete, Heraklion, Greece
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View all- da Rosa Tavares JVictória Barbosa J(2020)Ubiquitous healthcare on smart environments: A systematic mapping studyJournal of Ambient Intelligence and Smart Environments10.3233/AIS-200581(1-17)Online publication date: 17-Nov-2020
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