abstract

• Service robots are expected to help us in different tasks in various environments such as homes, hospitals and offices. This work presents the first steps towards building a service robot at our university. The robot is provided with a topological map of a building floor (environmental map). Using this map the robot learns a path from one location to another by means of reinfocerment learning. During execution the robot is provided with a navigation map, related to the environmental map. We make use of a comercial Roomba robot and show how to create an interface in order to control it. Service robots are expected to help us in different tasks in various environments such as homes, hospitals and offices. This work presents the first steps towards building a service robot at our university. The robot is provided with a topological map of a building floor (environmental map). Using this map the robot learns a path from one location to another by means of reinfocerment learning. During execution the robot is provided with a navigation map, related to the environmental map. We make use of a comercial Roomba robot and show how to create an interface in order to control it. © 2016 IEEE.

authors

• Núñez Varela José Ignacio
• Orozco-De-La-Paz A.
• Romero-Marti D.P.
• Soubervielle Montalvo Carlos

publication date

• 2017-01-01

published in

• 18th Congreso Mexicano de Robotica, COMRob 2016  Proceedings

keywords

• mobile robots; navigation; path learning Education; Floors; Hospitals; Mobile robots; Motion planning; Navigation; Reinforcement learning; Robot programming; Topology; Building floors; Environmental maps; Navigation and path planning; Navigation map; path learning; Service robots; Topological map; Robots

Digital Object Identifier (DOI)

• 10.1109/COMROB.2016.7955160

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