抄録
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.
本文言語 | English |
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ページ(範囲) | 718-734 |
ページ数 | 17 |
ジャーナル | Journal of Robotics and Mechatronics |
巻 | 26 |
号 | 6 |
DOI | |
出版ステータス | Published - 2014 12月 1 |
ASJC Scopus subject areas
- コンピュータ サイエンス(全般)
- 電子工学および電気工学