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Tracking Control of Human-Following Robot with Sonar Sensors

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Intelligent Autonomous Systems 14 (IAS 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

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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.

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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.

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Correspondence to Weidong Chen .

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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

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  • DOI: https://doi.org/10.1007/978-3-319-48036-7_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

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