Route Learning and Reproduction in a Tour-Guide Robot

  • Víctor Alvarez-Santos
  • A. Canedo-Rodriguez
  • Roberto Iglesias
  • Xosé M. Pardo
  • C. V. Regueiro
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7931)


Route learning and reproduction in tour-guide robots is usually performed with the help of an expert in robotics. In this paper we describe a novel approach to these tasks, which reduces the intervention of an expert to a minimum. First, the robot is able to learn routes while following a human acting as a route instructor. Then, anyone can easily ask the robot to reproduce a route using various hand gestures. In order to achieve an accurate route learning and reproduction we use a novel localization algorithm, which is able to combine various sources of information to obtain the robot’s pose. Moreover, the path planning and obstacle avoidance used to navigate while reproducing routes are also described in this article. Finally, we show through several trajectories how the robot is able to learn and reproduce routes.


tour-guide robot route learning route reproduction human following 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Víctor Alvarez-Santos
    • 1
  • A. Canedo-Rodriguez
    • 1
  • Roberto Iglesias
    • 1
  • Xosé M. Pardo
    • 1
  • C. V. Regueiro
    • 2
  1. 1.Centro Singular de Investigacion en Tecnoloxias da InformacionUniversidade de Santiago de CompostelaSpain
  2. 2.Department of Electronics and SystemsUniversidade da CoruñaSpain

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