This paper proposes a solution for the problem of continuous prediction in real-time of the emotional state of a human user from the identification of characteristics in facial expressions. In robots whose main task is the care of people (children, sick or elderly people) is important to maintain a close relationship man-machine, anld a rapid response of the robot to the actions of the person under care. We propose to increase the level of intimacy of the robot, and its response to specific situations of the user, identifying in real time the emotion reflected by the person's face. This solution is integrated with algorithms of the research group related to the tracking of people for use on an assistant robot. The strategy used involves two stages of processing, the first involves the detection of faces using HOG and linear SVM, while the second identifies the emotion in the face using a CNN. The strategy was completely tested in the laboratory on our robotic platform, demonstrating high performance with low resource consumption. Through various controlled laboratory tests with different people, which forced a certain emotion on their faces, the scheme was able to identify the emotions with a success rate of 92%.
In the field of robotics, particularly within the realm of service applications, one of the fundamental challenges lies in devising autonomous motion planning strategies for real-world environments. Addressing this issue necessitates the management of numerous variables, with the primary goal of enabling the robot to circumnavigate obstacles, attain its target destination in the most efficient manner, and adhere to the shortest possible route while prioritizing safety. Furthermore, the robot's control mechanisms must exhibit stability, precision, and swift responsiveness. Prompted by these requirements, this paper explores the utilization of Particle Swarm Optimization (PSO) in conjunction with a Proportional-Integral-Derivative (PID) controller to devise a motion planning strategy for a differential robot operating in a multifaceted real-world setting. The proposed control system is implemented using an ESP32 microcontroller, which serves as the foundation for the robot's motion planning and execution capabilities. Through a series of simulations, the efficacy of the suggested approach is demonstrated, emphasizing its potential as a robust solution for addressing the complex challenge of autonomous motion planning in real-world environments.
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