Single 2D lidar based follow-me of mobile robot on hilly terrains
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DOI 10.1007/s12206-020-0835-7
Journal of Mechanical Science and Technology 34 (9) 2020 Original Article DOI 10.1007/s12206-020-0835-7 Keywords: · Leader following · Mahalanobis distance · 2D lidar · Posture tracking
Correspondence to: Donghun Lee [email protected]
Citation: Kim, J., Jeong, H., Lee, D. (2020). Single 2D lidar based follow-me of mobile robot on hilly terrains. Journal of Mechanical Science and Technology 34 (9) (2020) 3845~3854. http://doi.org/10.1007/s12206-020-0835-7
Received February 1st, 2020 Revised
April 9th, 2020
Accepted July 1st, 2020 † Recommended by Editor Ja Choon Koo
Single 2D lidar based follow-me of mobile robot on hilly terrains Jihoon Kim1, Hyungjin Jeong2 and Donghun Lee2 1
2
School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea, School of Mechanical Engineering, Soongsil University, Seoul, Korea
Abstract
It would be a very challenging task for mobile robot to track a person walking ahead on hilly terrains with a 2D lidar sensor instead of a 3D lidar or a rotating 2D lidar sensor. But it is clear that the 2D lidar based method is much more efficient in terms of computational costs and sensor cost only. For successful leader-following of the mobile robot with the 2D lidar sensor on such hilly roads, it is necessary to develop a classifier capable of recognizing a specific body part of the leader differently from other parts. In this study, the Mahalanobis distance kernel based on two features extracted from the leader’s torso profiles is used to construct the elliptical decision boundaries for the classification problem. In addition, based on that classifier, the roll and pitch angle of the 2D lidar sensor are controlled to continuously track the leader's body part and to estimate the relative distance between the leader and the robot. As a result, even when the leader walks along paths with flat-to-hill transitions in day and night, the mobile robot successfully follows the leader with 80 % detection rate by stable pitching not exceed 1° of the 2D lidar sensor for keeping the torso inside its field of view. The proposed approach will be useful to improve the performances of multi-sensor based leader detection system using not only lidar sensor but also vision sensor with switching control scheme.
1. Introduction
© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2020
Human-robot interaction (HRI) technology is one of the most recent field of research in robotics, and autonomous human-following mobile robot is one of the most fundamental element of HRI. Autonomous human-following is still an ongoing and challenging issue which requires detection and recognition of target human leader, avoidance of unknown obstacles, etc. In last few decades, many studies have been conducted to achieve good performances of autonomous human-following control of mobile robots [1-18]. In these autonomous human-following systems, what is important is the utilized sensor systems that collect positional infor
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