Design and simulation of an assistant robot for indoor office applications

Abstract

The application of assistive robots is increasing in the day-to-day life. Assistive robotic systems are useful in the different domains ranging from medical, domestic and other indoor fields. Based on the utility, several applications of the assistive robots can be thought of. This paper outlines the steps involved in design and simulation of a mobile robot platform for an indoor office environment. The different phases of the development are discussed. The proposed system architecture is based on the real time navigation with dynamic obstacle avoidance in an indoor environment. For this purpose, 3D vision sensor-based navigation architecture is discussed. The target application for the robot model is object transfer from one location to other. The hardware and software architecture needed for the development of the model are presented in detail.