Donaxi@HOME's Project: Service Robot to Elderly Care

摘要

In this paper we described the Donaxi Service Robot. Donaxi belong to the Control and Robotics Laboratory of the Popular Autonomous University of Puebla (UPAEP) in Mexico. The hardware of this robot was built from scratch by students of this university. The software is based in ROS with some own development. Donaxi can navigate in a house environment, is capable of in-teract with its owner through voice and gestures, can recognize objects, has an arm to manipulate objects, can recognize people and connect with a smart house. Donaxi's software is modular and its central control is based on behavior trees. This robot has participated in some national and international competitions like Mexican Robotics Tournament and Robocup, since 2004 and 2009 respectively. Novel results are presented here in the area of face recognition, we propose the Hybrid Algorithm for Face Recognition using an Evolutionary Software Engineering. The principal aim was the construction of a face recognition system in order to be implemented in the service robot Donaxi, delimited by the Who is who test which is part of the RoboCup's tests set using an evolutionary development strategy of triple iterations.