TY - JOUR
T1 - A SLAM-Based Localization and Navigation System for Social Robots
T2 - The Pepper Robot Case
AU - Alhmiedat, Tareq
AU - Marei, Ashraf M.
AU - Messoudi, Wassim
AU - Albelwi, Saleh
AU - Bushnag, Anas
AU - Bassfar, Zaid
AU - Alnajjar, Fady
AU - Elfaki, Abdelrahman Osman
N1 - Funding Information:
The authors would also like to acknowledge the financial support for this work from the Deanship of Scientific Research (DSR) at the University of Tabuk, Tabuk, Saudi Arabia, under grant no. 1441-105.
Publisher Copyright:
© 2023 by the authors.
PY - 2023/2
Y1 - 2023/2
N2 - Robot navigation in indoor environments has become an essential task for several applications, including situations in which a mobile robot needs to travel independently to a certain location safely and using the shortest path possible. However, indoor robot navigation faces challenges, such as obstacles and a dynamic environment. This paper addresses the problem of social robot navigation in dynamic indoor environments, through developing an efficient SLAM-based localization and navigation system for service robots using the Pepper robot platform. In addition, this paper discusses the issue of developing this system in a way that allows the robot to navigate freely in complex indoor environments and efficiently interact with humans. The developed Pepper-based navigation system has been validated using the Robot Operating System (ROS), an efficient robot platform architecture, in two different indoor environments. The obtained results show an efficient navigation system with an average localization error of 0.51 m and a user acceptability level of 86.1%.
AB - Robot navigation in indoor environments has become an essential task for several applications, including situations in which a mobile robot needs to travel independently to a certain location safely and using the shortest path possible. However, indoor robot navigation faces challenges, such as obstacles and a dynamic environment. This paper addresses the problem of social robot navigation in dynamic indoor environments, through developing an efficient SLAM-based localization and navigation system for service robots using the Pepper robot platform. In addition, this paper discusses the issue of developing this system in a way that allows the robot to navigate freely in complex indoor environments and efficiently interact with humans. The developed Pepper-based navigation system has been validated using the Robot Operating System (ROS), an efficient robot platform architecture, in two different indoor environments. The obtained results show an efficient navigation system with an average localization error of 0.51 m and a user acceptability level of 86.1%.
KW - map production
KW - Pepper robot
KW - robot navigation
KW - Robot Operating System (ROS)
KW - SLAM
KW - social robot
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U2 - 10.3390/machines11020158
DO - 10.3390/machines11020158
M3 - Article
AN - SCOPUS:85149025340
SN - 2075-1702
VL - 11
JO - Machines
JF - Machines
IS - 2
M1 - 158
ER -