Abstract
The current system where robots follow people is representative of a vision system and a method of using lidar sensors. Systems based on these methods have the advantage of excellent following precision, but cannot guarantee the following precision if there are no distinct features or sufficient calibrations in following targets and surrounding environments. Therefore, this study proposes a following system using ultrasonic sensors that was consist of one receiver and two transmitters. Also, this study proposes an instrumental design and algorithm for fast following restart in the event of a non-following state beyond the sensing cross-region of the two ultrasonic sensors. In addition, this study implements a haptic function to enable the robot to recognize hazardous situations and non-following states for following a target. For quantitative verification of the proposed system, path following experiments with different paths, 'S', 'L', and '8', were conducted in a space of \(4{m}^{2}\) and the stable following was confirmed through 10 repetitive experiments. Through this study, it is expected that an immediate following system can be implemented in any environment.
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Acknowledgement
This research was supported by the MSIT (Ministry of Science and ICT), Korea, under the ITRC (Information Technology Research Center) support program (IITP-2021–2018-0–01426) supervised by the IITP (Institute for Information & Communications Technology Planning & Evaluation).
This work was supported by the Technology Innovation Program (Robot Industrial Strategic Technology Development) (20008764, Autonomous robot valet parking system, Parking robot, Robotic parking management system, Car body measurement, Autonomous navigation) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea).
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Yum, SH., Eom, SH., Lee, CU., Lee, EH. (2021). A Study on an Ultrasonic Sensor-Based Following System in Mobile Robots for Worker Assistance. In: Stephanidis, C., Antona, M., Ntoa, S. (eds) HCI International 2021 - Posters. HCII 2021. Communications in Computer and Information Science, vol 1420. Springer, Cham. https://doi.org/10.1007/978-3-030-78642-7_28
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DOI: https://doi.org/10.1007/978-3-030-78642-7_28
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