A call-to-service design for mobile robots using Zigbee sensor networks

Sin Yi Jiang*, Shang Chun Hung, Kai-Tai Song

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This paper presents a call-to-service design for a walking assistive robot such that it can come and provide assistance to an elderly or handicapped people in an indoor environment. The proposed design integrates a location-aware system and an autonomous navigation system of the mobile robot. A Zigbee-based location-aware system is responsible for estimating the position of user, who calls the robot for service. The autonomous navigation system takes the location information as input and moves towards the user upon calling. Three navigation behaviors are designed by using fuzzy logic approach. The outputs of these behaviors are fused to determine the motion of the robot using a neural network. The call-to-service system has been implemented on a walking helper robot (Walbot) to enhance its capability of human-robot interaction. Experimental results show that, with a location estimation error of 0.41m, the developed system demonstrates satisfactory call-to-service performance.

Original languageEnglish
Title of host publicationASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
Pages317-322
Number of pages6
StatePublished - 29 Aug 2011
Event8th Asian Control Conference, ASCC 2011 - Kaohsiung, Taiwan
Duration: 15 May 201118 May 2011

Publication series

NameASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

Conference

Conference8th Asian Control Conference, ASCC 2011
CountryTaiwan
CityKaohsiung
Period15/05/1118/05/11

Keywords

  • Human-robot interaction
  • location-aware system
  • walking assistive robot
  • Zigbee sensor networks

Fingerprint Dive into the research topics of 'A call-to-service design for mobile robots using Zigbee sensor networks'. Together they form a unique fingerprint.

Cite this