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Applied Sciences
Volume 15
Issue 16
10.3390/app15169056
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Autonomous Navigation System Test for Service Robots in Semi-Structured Environments

by
Luis E. Rodriguez-Raygoza
,
Juan A. Gonzalez-Aguirre
,
Luis C. Felix-Herran
,
Mauricio A. Ramirez-Moreno
,
Jorge de J. Lozoya-Santos
and
Juan C. Tudon-Martinez
*
School of Engineering and Sciences, Tecnológico de Monterrey, Monterrey 64700, Mexico
*
Author to whom correspondence should be addressed.
Appl. Sci. 2025, 15(16), 9056; https://doi.org/10.3390/app15169056 (registering DOI)
Submission received: 11 June 2025 / Revised: 30 July 2025 / Accepted: 31 July 2025 / Published: 17 August 2025
(This article belongs to the Special Issue Advanced Mobile Robots: Researches and Applications)
Versions Notes

Abstract

This paper presents an autonomous mobile service robot designed by the Conscious Technologies research group at Tecnologico de Monterrey, integrating advanced navigation and real-time surveillance capabilities. The primary objective was to evaluate the robot’s performance in both navigation and vision tasks within dynamic environments. The research compared two navigation algorithms: the Navstack package, and a State Feedback Controller (SFC). While the Navstack algorithm excelled in obstacle avoidance, it showed variability in location precision and trajectory repeatability. Conversely, the SFC demonstrated superior precision and repeatability, but lacked obstacle-detection capabilities. Furthermore, the vision system’s efficacy in face mask detection and social distancing compliance was assessed under varying robot and human speeds. An ANOVA analysis revealed the significant impact of these dynamic variables on the performance of the vision model. The integration of robust navigation algorithms with intelligent surveillance methods highlights the potential for real-world applications in protocol enforcement and autonomous navigation in semi-structured environments.
Keywords: navigation algorithms; autonomous mobile robot; object detection; vision system navigation algorithms; autonomous mobile robot; object detection; vision system

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MDPI and ACS Style

Rodriguez-Raygoza, L.E.; Gonzalez-Aguirre, J.A.; Felix-Herran, L.C.; Ramirez-Moreno, M.A.; Lozoya-Santos, J.d.J.; Tudon-Martinez, J.C. Autonomous Navigation System Test for Service Robots in Semi-Structured Environments. Appl. Sci. 2025, 15, 9056. https://doi.org/10.3390/app15169056

AMA Style

Rodriguez-Raygoza LE, Gonzalez-Aguirre JA, Felix-Herran LC, Ramirez-Moreno MA, Lozoya-Santos JdJ, Tudon-Martinez JC. Autonomous Navigation System Test for Service Robots in Semi-Structured Environments. Applied Sciences. 2025; 15(16):9056. https://doi.org/10.3390/app15169056

Chicago/Turabian Style

Rodriguez-Raygoza, Luis E., Juan A. Gonzalez-Aguirre, Luis C. Felix-Herran, Mauricio A. Ramirez-Moreno, Jorge de J. Lozoya-Santos, and Juan C. Tudon-Martinez. 2025. "Autonomous Navigation System Test for Service Robots in Semi-Structured Environments" Applied Sciences 15, no. 16: 9056. https://doi.org/10.3390/app15169056

APA Style

Rodriguez-Raygoza, L. E., Gonzalez-Aguirre, J. A., Felix-Herran, L. C., Ramirez-Moreno, M. A., Lozoya-Santos, J. d. J., & Tudon-Martinez, J. C. (2025). Autonomous Navigation System Test for Service Robots in Semi-Structured Environments. Applied Sciences, 15(16), 9056. https://doi.org/10.3390/app15169056

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