Human Following by an Omnidirectional Mobile Robot Using Maps Built from Laser Range-Finder Measurement

被引：7

作者：

Ogino, Takashi ^{[1
]}

Tomono, Masahiro ^{[2
]}

Akimoto, Toshinari ^{[3
]}

Matsumoto, Akihiro ^{[3
]}

机构：

[1] Omori Machinery Co Ltd, 2761 Nishikata, Koshigaya, Saitama, Japan

[2] Chiba Inst Technol, Future Robot Technol Ctr, Narashino, Chiba 2750016, Japan

[3] Toyo Univ, Dept Syst Robot, Kawagoe, Saitama 3508585, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2010年 / 22卷 / 01期

关键词：

omnidirectional mobile robot; human tracking; scan matching; map building; localization;

D O I：

10.20965/jrm.2010.p0028

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper deals with map building from laser range finder measurement in an unknown indoor environment and its application to human following by an omnidirectional mobile robot. After reviewing basic strategies of human following by a mobile robot involving simultaneous acquisition of indoor map and robot location acquisition, we implemented "pseudo" odometry, rather than conventional odometry, for the omnidirectional mobile robot, using this information to improve scan-matching calculation accuracy. We then conducted experiments in which the robot followed a pedestrian. We confirmed that the robot could follow different pedestrian trajectories if walking was slow, and that our approach effectively improved scan matching calculation accuracy.

引用

页码：28 / 35

页数：8

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