Ordering of Robotic Navigational Tasks in Home Environment

Autonomous navigation is an essential component of an indoor mobile robot. For an interactive user experience the robot should be able to understand multiple navigational tasks and perform them as optimally as possible. User may issue multiple random destinations to the robot to reach in a scenario like nding the elderly person, but to navigate randomly may result in an inef cient robot manoeuvring and may delay the process of nding the elderly person in the environment. To enhance the navigational ef ciency, ordered and organised navigation based on certain cost function is required. In this paper, we are focusing on the need of organisation of navigational tasks keeping in view the unstructured and dynamic nature of the home environment. To achieve speed and accuracy in navigation, a detailed representation of the environment and a better evaluation of the cost function to organise the tasks is required. Navigation is based on grid map generated using laser scanner and sonar sensors mounted on the small sized indoor robot, ARTOS. The Navigational Cost is used for organising the tasks and is computed using A* algorithm to determine path to the destination.