This diagram is an illustration of the concept that we are proposing. First, the user interacts with the robot at the starting point in the bottom left corner of the image. Once the user has selected the desired destination, the robot will lead the user out along the path. The robot makes the first stop at Waypoint 1, which is located at the first 90-degree turn into the corridor.

The robot then waits for the user, sending audio queues to the user to help users navigate to the robot. Once the user approaches and arrives within a short distance of the robot, the robot will start moving again to Waypoint 2. Once the robot reaches waypoint 2, the robot stops and waits for the user to approach the waypoint. Keep in mind that the robot will always be in the line of sight of the user, and guiding the user through the path. Throughout the path, the user will have to navigate following the robot's position.

The early phase of the testing of the navigation algorithm will be conducted in a virtual simulation of the robot in a virtual environment. We will use this environment to construct hallways and allow the robot to find the path to the destination, as well as generate the necessary waypoints along the path.