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JRM Vol.26 No.6 pp. 718-734
doi: 10.20965/jrm.2014.p0718
(2014)

Paper:

Human Detecting and Following Mobile Robot Using a Laser Range Sensor

Jianzhao Cai*,** and Takafumi Matsumaru**

*South China University of Technology, Wushan RD., Tianhe District, Guangzhou 510641, China

**Graduate School of Information, Production and Systems, Waseda University, 2-7 Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka 808-0135, Japan

Received:
April 28, 2014
Accepted:
October 20, 2014
Published:
December 20, 2014
Keywords:
mobile robot, human detection, human following, laser range scanner, limited velocity
Abstract
Human Detecting and Following

To meet the higher requirements of human-machine interface technology, a robot with human-following capability, a classic but significant problem, is discussed in this paper. We first propose a human detection method that uses only a single laser range scanner to detect the waist of the target person. Second, owing to the limited speed of a robot and the potential risk of obstructions, a new human-following algorithm is proposed. The speed and acceleration of a robot are adaptive to the human-walking speed and the distance between the human and robot. Finally, the performance of the proposed control system is successfully verified through a set of experimental results obtained using a two-wheelmobile robot working in a real environment under different scenarios.

Cite this article as:
J. Cai and T. Matsumaru, “Human Detecting and Following Mobile Robot Using a Laser Range Sensor,” J. Robot. Mechatron., Vol.26, No.6, pp. 718-734, 2014.
Data files:
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Last updated on Nov. 12, 2018