Autonomous task execution within NAO robot scouting mission framework

Abstract

A polygon for movement and task execution by the humanoid robot NAO was defined in the form of a 2D map. A series of tasks was designed for the robot to accomplish during its scouting mission. A localization algorithm using markers and the robot's camera was developed, as well as algorithms for navigation, path planning, and robot motion. A GUI for mission definition, supervision, and control, along with manual robot tele-operation, was developed. A finite automaton was defined which enables switching between autonomous, semi-autonomous, and manual operation modes. The developed modules were integrated with modules for audio and visual perception and the complete system was tested on a chosen scouting mission.