The development of an autonomous service robot. Implementation: "lucas"-The library assistant robot

This paper describes an autonomous mobile device that was designed, developed and implemented as a library assistant robot. A complete autonomous system incorporating human-robot interaction has been developed and implemented within a real world environment. The robotic development is comprehensively described in terms of its localization systems, which incorporates simple image processing techniques fused with odometry and sonar data, which is validated through the use of an extended Kalman filter (EKF). The essential principles required for the development of a successful assistive robot are described and put into demonstration through a human-robot interaction application applied to the library assistant robot.