人追従ロボットの動的障害物センシングによる経路認識と安定走行の実現

抄録

In this study, we propose a static or dynamic obstacle detection and avoidance method for a person-following robot. We developed a person-following robot with three thermal array sensors and four omniwheels. The human-following robot is equipped with 2DLiDAR to obtain point cloud data of obstacles in the vicinity. If a certain number of points in the obtained point cloud data are in the obstacle detection area, the robot recognizes the obstacle and generates an avoidance maneuver. Finally, the static and dynamic obstacle detection and avoidance performance were verified, and an obstacle avoidance method with high obstacle avoidance performance was successfully devised.