The number of service robots increases every year and thus, service robotics has become a popular research topic among researchers. As a core ability, a service robot needs to sense human presence and follow the instructor along the environment. The robot needs to adapt its movement in order not to crash any obstacles or people along the way. While moving, the robot should be able to distinguish different places (e.g rooms in an indoor application) by observing visual properties. Throughout this study, we aim to build a mobile robot that have these abilities. The robot will use RGB-D sensors for environmental awareness and human tracking. In parallel, the robot will employ the topological spatial cognition model (Karaoguz & Bozma, 2016). As such, place learning will be accomplished as guided by the human.
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