Abstract
Human-following has become one of the most import functions as to human-friendly robots that are able to coexist with humans and serve humans. In this paper, we propose a tracking control strategy for a human-following robot which applies a sonar ring as its rangefinder to detect human and obstacles. In order to detect human, we equip the human with a guiding device. The tracking control strategy consists of firing strategy and human-following and obstacle-avoiding strategy. Firing strategy can reduce crosstalk effectively. Human-following and obstacle-avoiding strategy ensure that the robot can follow human in a constant following distance with an appropriate orientation and avoiding obstacles under unknown environments.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Jones, J.L.: Robots at the tipping point: the road to iRobot Roomba. Robot. Autom. Mag. 13(1), 76–78 (2006)
Sales Gil, J., MarÃn Prades, R., Cervera Mateu, E.: Multi-sensor person following in low-visibility scenarios. In: Sensors (2010)
Meng, Q., Yao, F., Wu, Y.: Review of crosstalk elimination methods for ultrasonic range systems in mobile robots. In: IEEE/RJS International Conference on Intelligent Robots and Systems, pp. 1164–1169 (2006)
Borenstein, J., Koren, Y.: Error eliminating rapid ultrasonic firing for mobile robot obstacle avoidance. IEEE Trans. Robot. Autom. 11(1), 132–138 (1995)
Kwon, H., Yoon, Y., Park J.B., et al.: Person tracking with a mobile robot using two uncalibrated independently moving cameras. In: IEEE International Conference on Robotics and Automation, pp. 2877–2883 (2005)
Tsuda, N., Harimoto, S., Saitoh, T., et al.: Mobile robot with following function and autonomous return function. In: International Conference on Control, Automation and Systems, pp. 635–640 (2009)
Okusako, S., Sakane, S.: Human tracking with a mobile robot using a laser range-finder. J. Robot. Soc. Jpn. 24(5), 43 (2006)
Zender, H., Jensfelt, P., Kruijff G.J.M.: Human-and situation-aware people following. In: 16th IEEE International Conference on Robot and Human interactive Communication, pp. 1131–1136 (2007)
Gockley, R., Forlizzi, J., Simmons, R.: Natural person-following behavior for social robots. In: Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, pp. 17–24 (2007)
Nagumo, Y., Ohya, A.: Human following behavior of an autonomous mobile robot using light-emitting device. In: 10th IEEE InternationalWorkshop on Robot and Human Interactive Communication, pp. 225–230 (2001)
Murrieta-Cid, R., Muñoz-Gomez, L., Alencastre-Miranda, M., et al.: Maintaining visibility of a moving holonomic target at a fixed distance with a non-holonomic robot. In: IEEE/RJS International Conference on Intelligent Robots and Systems, pp. 2687–2693 (2005)
Yoshimi, T., Nishiyama, M., Sonoura, T., et al.: Development of a person following robot with vision based target detection. In: IEEE/RJS International Conference on Intelligent Robots and Systems, pp. 5286–5291 (2006)
Masehian, E., Katebi, Y.: Sensor-based motion planning of wheeled mobile robots in unknown dynamic environments. J. Intell. Robot. Syst. 74(3–4), 893–914 (2014)
Acknowledgements
This work is partially supported by the China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER) under Grant 2012GB102001, the Natural Science Foundation of China under Grants 61175088, 61221003 and 61573243.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Peng, W., Wang, J., Chen, W. (2017). Tracking Control of Human-Following Robot with Sonar Sensors. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_22
Download citation
DOI: https://doi.org/10.1007/978-3-319-48036-7_22
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-48035-0
Online ISBN: 978-3-319-48036-7
eBook Packages: EngineeringEngineering (R0)