Abstract
For the future cohabitation of humans and robots, we are making research on home use robots, where human motion and environment must be precisely recognized. We used omnidirectional mobile robot with laser range sensor for this purpose, and made experiments on map building and human following. First, we adopted scan matching algorithm for the localization of mobile robot in the stable environment, and confirmed the map building capability by experiments. Next, we applied this algorithm to the mixed environment of human and robot, and succeeded to extract human motion and robot motion along with the map building at the same time. We confirmed the adaptability of scan matching algorithm to the human motion recognition which is the key to the human following by robots.
