Table 1.

Proposed research-related abbreviations.

Symbol	Abbreviation
SPR	S: ultrasonic sensors, as {H_R, H_L, A_R, A_L, R_L & L_L} P: Position of sensor at Head (H), Abdomen (A), Limb(L) R: Position at sides as Right ®, left(L)
PP	Past Position
CP	Current Position
SR	Service Robot
Dest_ Node	Destination Node