Generation of Avoidance Motion for High Heat Sources by a Mobile Robot in Environment Mapping

Abstract

In this study, we develop a human-following robot for the purpose of life support in indoor living spaces. The robot uses thermal image data obtained from a temperature sensor to distinguish between human and object. In living spaces, there are high heat sources that exceed the temperature of the human body, such as heaters, and contact of the robot with these high heat sources may lead to accidents such as fires. Therefore, it is necessary for the robot to avoid high heat sources while following the human. In this study, we propose a method in which a robot equipped with distance sensors, a geomagnetic sensor, and infrared heat sensors can distinguish between room temperature and heat sources and avoid high heat sources by identifying high and low heat sources at the same time.