Further development of a robotic museum guide
This report presents the design and implementation of a software system for robotic museum guide. This system has been implemented on MAVEN and it includes 5 behavioural modes. They are “greeting”, “wait”, “scan for user”, “facing centroid of audience” and “facing a random audience” modes. In “greet...
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sg-ntu-dr.10356-687522023-03-04T18:37:55Z Further development of a robotic museum guide Chng, Ernest ZhongLin Seet Gim Lee, Gerald School of Mechanical and Aerospace Engineering Robotics Research Centre DRNTU::Engineering This report presents the design and implementation of a software system for robotic museum guide. This system has been implemented on MAVEN and it includes 5 behavioural modes. They are “greeting”, “wait”, “scan for user”, “facing centroid of audience” and “facing a random audience” modes. In “greeting” mode, the robot docks at the charging station and waits for visitors to arrive. During this mode, MAVEN will give its greeting speech once it detects a visitor entering through the door. The user will be able to select which station they would like to visit using a menu provided on a touch screen device. In the “wait” mode, MAVEN would navigate to the various stations with obstacle avoidance capability. When MAVEN reaches the specified station, it activates the “Scan for user”, “face centroid of audience” and “face a random audience” modes. These modes make use of a Kinect sensor to track and face the audience to simulate eye contact with the audience while giving the speech. In the “scan the user” mode, the robot turns and searches for a member of audience. Once MAVEN detects someone, it will begin the speech for the station where it is situated. In the “face the centroid of audience” mode, the robot turns to face and track the centroid of the audience. Finally in the “face a random audience” mode, the robot randomly selects a member of the audience and track him or her. MAVEN performed very well during the tests. It is able to select from a database of speeches and present it at each station. MAVEN can also navigate to each station with obstacle avoidance reliably. Bachelor of Engineering (Mechanical Engineering) 2016-05-31T08:26:21Z 2016-05-31T08:26:21Z 2016 Final Year Project (FYP) http://hdl.handle.net/10356/68752 en Nanyang Technological University 85 p. application/pdf |
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DRNTU::Engineering Chng, Ernest ZhongLin Further development of a robotic museum guide |
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This report presents the design and implementation of a software system for robotic museum guide. This system has been implemented on MAVEN and it includes 5 behavioural modes. They are “greeting”, “wait”, “scan for user”, “facing centroid of audience” and “facing a random audience” modes. In “greeting” mode, the robot docks at the charging station and waits for visitors to arrive. During this mode, MAVEN will give its greeting speech once it detects a visitor entering through the door. The user will be able to select which station they would like to visit using a menu provided on a touch screen device.
In the “wait” mode, MAVEN would navigate to the various stations with obstacle avoidance capability. When MAVEN reaches the specified station, it activates the “Scan for user”, “face centroid of audience” and “face a random audience” modes. These modes make use of a Kinect sensor to track and face the audience to simulate eye contact with the audience while giving the speech. In the “scan the user” mode, the robot turns and searches for a member of audience.
Once MAVEN detects someone, it will begin the speech for the station where it is situated. In the “face the centroid of audience” mode, the robot turns to face and track the centroid of the audience. Finally in the “face a random audience” mode, the robot randomly selects a member of the audience and track him or her. MAVEN performed very well during the tests. It is able to select from a database of speeches and present it at each station. MAVEN can also navigate to each station with obstacle avoidance reliably. |
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Seet Gim Lee, Gerald |
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Seet Gim Lee, Gerald Chng, Ernest ZhongLin |
format |
Final Year Project |
author |
Chng, Ernest ZhongLin |
author_sort |
Chng, Ernest ZhongLin |
title |
Further development of a robotic museum guide |
title_short |
Further development of a robotic museum guide |
title_full |
Further development of a robotic museum guide |
title_fullStr |
Further development of a robotic museum guide |
title_full_unstemmed |
Further development of a robotic museum guide |
title_sort |
further development of a robotic museum guide |
publishDate |
2016 |
url |
http://hdl.handle.net/10356/68752 |
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1759857261517209600 |