This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Open AccessArticle
Automated Destination Renewal Process for Location-Based Robot Errands
by
Woo-Jin Lee
Woo-Jin Lee 1
and
Sang-Seok Yun
Sang-Seok Yun
Sang-Seok Yun is an Associate Professor at the Department of Mechanical Engineering, Silla He his [...]
Sang-Seok Yun is an Associate Professor at the Department of Mechanical Engineering, Silla University. He completed his PhD studies in Mechanical Engineering at the Korea University in 2013. He was a researcher at the Korea Institute of Science and Technology (KIST) from 2005 to 2017. His personal research interests are in human–robot interactions, location-based services, socially assistive robots, and smart healthcare.
2,*
1
Center for Intelligent & Interactive Robotics, Korea Institute of Science and Technology (KIST), Seoul 02792, Republic of Korea
2
Department of Mechanical Engineering, Silla University, Busan 46958, Republic of Korea
*
Author to whom correspondence should be addressed.
Appl. Sci. 2024, 14(13), 5671; https://doi.org/10.3390/app14135671 (registering DOI)
Submission received: 10 June 2024
/
Revised: 26 June 2024
/
Accepted: 26 June 2024
/
Published: 28 June 2024
Abstract
In this paper, we propose a new approach for service robots to perform delivery tasks in indoor environments, including map-building and the automatic renewal of destinations for navigation. The first step involves converting the available floor plan (i.e., CAD drawing) of a new space into a grid map that the robot can navigate. The system then segments the space in the map and generates movable initial nodes through a generalized Voronoi graph (GVG) thinning process. As the second step, we perform room segmentation from the grid map of the indoor environment and classify each space. Next, when the delivery object is recognized while searching the set space using the laser and RGB-D sensor, the system automatically updates itself to a position that makes it easier to grab objects, taking into consideration geometric relationships with surrounding obstacles. Also, the system supports the robot to autonomously explore the space where the user’s errand can be performed by hierarchically linking recognized objects and spatial information. Experiments related to map generation, estimating space from the recognized objects, and destination node updates were conducted from CAD drawings of buildings with actual multiple floors and rooms, and the performance of each stage of the process was evaluated. From the quantitative evaluation of each stage, the proposed system confirmed the potential of partial automation in performing location-based robot services.
Share and Cite
MDPI and ACS Style
Lee, W.-J.; Yun, S.-S.
Automated Destination Renewal Process for Location-Based Robot Errands. Appl. Sci. 2024, 14, 5671.
https://doi.org/10.3390/app14135671
AMA Style
Lee W-J, Yun S-S.
Automated Destination Renewal Process for Location-Based Robot Errands. Applied Sciences. 2024; 14(13):5671.
https://doi.org/10.3390/app14135671
Chicago/Turabian Style
Lee, Woo-Jin, and Sang-Seok Yun.
2024. "Automated Destination Renewal Process for Location-Based Robot Errands" Applied Sciences 14, no. 13: 5671.
https://doi.org/10.3390/app14135671
Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details
here.
Article Metrics
Article Access Statistics
For more information on the journal statistics, click
here.
Multiple requests from the same IP address are counted as one view.