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Today, we can see many kinds of robots anywhere. Robots are inseparable from human-beings. In result, human-robot interaction is getting more important. This paper describes a system for human-robot interaction which is one of the biggest issues recently. We approach the interaction from a localization point of view. The aim of the system for human-robot interaction is that the robot finds a person speaking in an area and goes to the speaker while the robot avoids static obstacles using mapping data obtained before. As well as this, the system acts like human especially when turning its head after someone calls.