Path planning in service robotics considering interaction based on augmented reality

Abstract

This research presents how augmented reality (AR) can be used for assistance tasks in indoor environments. The approach of AR supported human-robot interaction arises two classical questions in robot navigation: What does the robot need to do to show the AR? (task planning) and, which are the best movements to reach the destination allowing the user to get the AR information? (path planning). In addition, a constraint related to assistance environments has to be considered: How can the robot perform its tasks in order to improve the interaction?. These problems along with how AR can enhance human-robot interaction, and therefore improve the human experience with the robot, are addressed along the paper. The first experiments developed with this system are performed using the gazebo simulator. The solutions proposed are analized using a low cost platform for elderly assistance, which already uses AR for some assistance tasks, developed in Universidad de Len.