RT Dissertation/Thesis
T1 Development of a general purpose tour-guide robot able to learn routes from people and to adapt and move in unstructured and crowded environments
A1 Álvarez Santos, Víctor
A2 Universidade de Santiago de Compostela. E.T.S. de Enxeñaría. Departamento de Electrónica e Computación. Centro Singular de Investigación en Tecnoloxías da Información (CITIUS), 
K1 Guide robot
K1 Robot vision
K1 Human follower
K1 Positioning
K1 Learning
AB Industrial robots has consolidated its presence in factories and professional environments during the last few years.However, in the next decades it is expected that service robots approach an exponential growth, reaching the massmarket and taking over our homes and offices. In order to meet these predictions, there is still some way to go. Servicerobots need to be able to adapt to the dynamic nature of unstructured environments, where people walk by, and furnituremight be moved around.In recent years, tour-guide robots have become a popular research topic because they face many of the challenges whichhave arisen in service robotics. Essentially, a tour-guide robot must be able to interact with humans, who might demandroutes from the robot. Also, in order to showcase these routes, the robot must have a reliable and flexible perception ofthe changing environment where it operates. For these reasons, the goal of this thesis is to build a general purpose tourguiderobot, which should be able to learn routes while following an instructor. The instructor can be anyone, i.emembers of the staff from where the robot operates. This makes necessary the development of robust and flexiblebehaviours. More specifically, we have a) designed and developed a person-following behaviour, b) a human-robotinteraction scheme, c) the processes for route recording and reproduction, and d) a strategy to allow the robot to learn itsown control algorithms...
YR 2014
FD 2014-12-15
LK http://hdl.handle.net/10347/11991
UL http://hdl.handle.net/10347/11991
LA eng
DS Minerva
RD 30 abr 2026