センサフュージョンに基づく全方向自律移動ロボットの人追従制御

抄録

This paper proposes a newly designed human-following robot equipped with an omni-directional mobile cart and five distance sensors for freely moving on the floor. In order to achieve secure tracking control for human, we used an infrared temperature sensor and a geomagnetic sensor, resulting in robust autonomous running performance. First, we describe the fundamental structure of sensing algorithm with five distance sensors. Next, we explain the posture control of the autonomous robot, in which a geomagnetic sensor for real-time measurement of robot orientation is incorporated. Finally, we show novel human tracking control with an infrared temperature sensor on the basis of sensor fusion concept.