GUI3DXBot: An Interactive Software Tool for a Tour-Guide Mobile Robot
Abstract
Nowadays, mobile robots begin to appear in public places. To do these tasks properly, mobile robots must interact with humans. This paper presents the development of GUI3DXBot, a software tool for a tour-guide mobile robot. The paper focuses on the development of different software modules needed to guide users in an office building. In this context, GUI3DXBot is a server-client application, where the server side runs into the robot, and the client side runs into a 10-inch Android tablet. The GUI3DXBot server side is in charge of performing the perception, localization-mapping, and path planning tasks. The GUI3DXBot client side implements the human-robot interface that allows users requesting-canceling a tour-guide service, showing robot localization in the map, interacting with users, and tele-operating the robot in case of emergency. The contributions of this paper are twofold: it proposes a software modules design to guide users in an office building, and the whole robot system was well integrated and fully tested. GUI3DXBot were tested using software integration and field tests. The field tests were performed over a two-week period, and a survey to users was conducted. The survey results show that users think GUI3DXBot is friendly and intuitive, the goal selection was very easy, the interactive messages were very easy to understand, 90% of users found useful the robot icon on the map, users found useful drawing the path on the map, 90% of users found useful the local-global map view, and the guidance experience was very satisfactory (70%) and satisfactory (30%).
Downloads
Disciplines:
Engineering, Artificial IntelligenceLanguages:
EnglishSupport agencies:
Universidad del ValleRights:
UMNGType:
textoReferences
K.-T. Song, Y.-H. Chiu, S.-H. Song, and K. Zinchenko, "Scheduling and control of a cloud robot for reception and guidance," in 2017 International Automatic Control Conference (CACS), 2017, pp. 1-6. https://doi.org/10.1109/CACS.2017.8284263
R. Triebel, K. Arras, R. Alami, L. Beyer, S. Breuers, R. Chatila, M. Chetouani, D. Cremers, V. Evers, M. Fiore, H. Hung, O. A. I. Ramírez, M. Joosse, H. Khambhaita, T. Kucner, B. Leibe, A. J. Lilienthal, T. Linder, M. Lohse, M. Magnusson, B. Okal, L. Palmieri, U. Rafi, M. van Rooij, and L. Zhang, "SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports," Springer, Cham, 2016, pp. 607-622. https://doi.org/10.1007/978-3-319-27702-8_40
B. Bacca-Cortes, K. Muñoz Peña, and E. Caicedo Bravo, "GUI3DXBOT, Solución para la Asistencia a Peatones en Ambientes de Oficina Usando un Robot Móvil Guía (13-60-371)." Ministerio del Interior, Dirección Nacional de Derechos de Autor, Cali, p. 1, 2017.
M. Quigley, B. Gerkey, K. Conely, J. Faust, T. Foote, J. Leibs, E. Berger, R. Wheeler, and A. Ng, "ROS: an open-source Robot Operating System," in ICRA, 2009, pp. 1-6.
S. Thrun, M. Beetz, M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz, "Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva," Int. J. Rob. Res., vol. 19, no. 11, pp. 972-999, Nov. 2000. https://doi.org/10.1177/02783640022067922
I. R. Nourbakhsh, J. Bobenage, S. Grange, R. Lutz, R. Meyer, and A. Soto, "An affective mobile robot educator with a full-time job," Artif. Intell., vol. 114, no. 1-2, pp. 95-124, Oct. 1999. https://doi.org/10.1016/S0004-3702(99)00027-2
A. Bellarbi, S. Kahlouche, N. Achour, and N. Ouadah, "A social planning and navigation for tour-guide robot in human environment," in 2016 8th International Conference on Modelling, Identification and Control (ICMIC), 2016, pp. 622-627. https://doi.org/10.1109/ICMIC.2016.7804186
S. J. Lee, J. Lim, G. Tewolde, and J. Kwon, "Autonomous tour guide robot by using ultrasonic range sensors and QR code recognition in indoor environment," in IEEE International Conference on Electro/Information Technology, 2014, pp. 410-415. https://doi.org/10.1109/EIT.2014.6871799
S. Wang and H. I. Christensen, "TritonBot: First Lessons Learned from Deployment of a Long-Term Autonomy Tour Guide Robot," in 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2018, pp. 158-165. https://doi.org/10.1109/ROMAN.2018.8525845
D. Rodriguez-Losada, F. Matia, R. Galan, M. Hernando, J. Manuel, and J. Manuel, "Urbano, an Interactive Mobile Tour-Guide Robot," in Advances in Service Robotics, InTech, 2008. https://doi.org/10.5772/5950
R. Kümmerle, M. Ruhnke, B. Steder, C. Stachniss, and W. Burgard, "Autonomous Robot Navigation in Highly Populated Pedestrian Zones," J. F. Robot., vol. 32, no. 4, pp. 565-589, Jun. 2015. https://doi.org/10.1002/rob.21534
K. Yelamarthi, S. Sherbrook, J. Beckwith, M. Williams, and R. Lefief, "An RFID based autonomous indoor tour guide robot," in 2012 IEEE 55th International Midwest Symposium on Circuits and Systems (MWSCAS), 2012, pp. 562-565. https://doi.org/10.1109/MWSCAS.2012.6292082
Ching-Chih Tsai, Shu-Min Shish, Hsu-Chih Huang, Min-Yu Wang, and Chih Chung Lee, "Autonomous navigation of an indoor tour guide robot," in 2008 IEEE Workshop on Advanced robotics and Its Social Impacts, 2008, pp. 1-6. https://doi.org/10.1109/ARSO.2008.4653591
F. Faber, M. Bennewitz, C. Eppner, A. Gorog, C. Gonsior, D. Joho, M. Schreiber, and S. Behnke, "The humanoid museum tour guide Robotinho," in RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009, pp. 891-896. https://doi.org/10.1109/ROMAN.2009.5326326
H.-M. Gross, H. Boehme, C. Schroeter, S. Mueller, A. Koenig, E. Einhorn, C. Martin, M. Merten, and A. Bley, "TOOMAS: Interactive Shopping Guide robots in everyday use - final implementation and experiences from long-term field trials," in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, pp. 2005-2012. https://doi.org/10.1109/IROS.2009.5354497
Y. Chen, F. Wu, W. Shuai, and X. Chen, "Robots serve humans in public places-KeJia robot as a shopping assistant," Int. J. Adv. Robot. Syst., vol. 14, no. 3, pp. 1-20, 2017. https://doi.org/10.1177/1729881417703569
R. Stricker, S. Müller, E. Einhorn, C. Schröter, M. Volkhardt, K. Debes, and H. M. Gross, "Konrad and Suse, two robots guiding visitors in a university building," Inform. aktuell, pp. 49-58, 2012. https://doi.org/10.1007/978-3-642-32217-4_6
H. Lin and W. Tsao, "Automatic mapping and localization of a tour guide robot by fusing active RFID and ranging laser scanner," 2011 Int. Conf. Adv. Mechatron. Syst., pp. 429-434, 2011.
G. Grisetti, C. Stachniss, and W. Burgard, "Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters," IEEE Trans. Robot., vol. 23, no. 1, pp. 34-46, Feb. 2007. https://doi.org/10.1109/TRO.2006.889486
P. Kruchten, The Rational Unified Process: An Introduction, 3rd ed. Addison-Wesley Professional, 2003.
D. V. Lu, D. Hershberger, and W. D. Smart, "Layered costmaps for context-sensitive navigation," in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, pp. 709-715.
J. Mace, J. Lee, R. Toris, B. Alexander, D. Bertram, and M. Gruhler, "RosBridge Protocol Specification," GitHub, 2018. [Online]. Available: https://github.com/RobotWebTools/rosbridge_suite/blob/groovy-devel/ROSBRIDGE_PROTOCOL.md. [Accessed: 01-Sep-2018].
Altmetric
- Citations
- Citation Indexes: 5
- Usage
- Full Text Views: 285
- Abstract Views: 58
- Captures
- Readers: 14
| Article metrics | |
|---|---|
| Abstract views | |
| Galley vies | |
| PDF Views | |
| HTML views | |
| Other views | |
