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


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

April 28, 2014
October 20, 2014
December 20, 2014
mobile robot, human detection, human following, laser range scanner, limited velocity
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.
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