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

Takashi Ogino | Zendy; Masahiro Tomono | Zendy; Toshinari AKIMOTO | Zendy; Akihiro Matsumoto | Zendy

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

Author(s) -

Takashi Ogino,

Masahiro Tomono,

Toshinari AKIMOTO,

Akihiro Matsumoto

Publication year - 2010

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2010.p0028

Subject(s) - odometry , omnidirectional camera , computer vision , mobile robot , robot , omnidirectional antenna , artificial intelligence , computer science , mobile robot navigation , matching (statistics) , robot control , antenna (radio) , mathematics , telecommunications , statistics

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.

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