Leader recognition based on 2D laser scanner and pan-tilt for quadruped robots

Abstract

To meet the higher requirements of human-machine interface technology, the quadruped robot with human recognition capability is discussed in this paper. We present a marker tracking system which uses laser scanner and pan-tilt to allow a particular user to designate himself as the robot's leader. Optimal motion curve of pan-tilt is planned so as 3D point clouds can be returned by a rotating 2D laser scanner, and the maximum number of measurement point is in the area of interest. The leader is designated with unobtrusive passive retro-reflective stripe through cluttered off-road environments. Experiment results demonstrate the feasibility of the algorithm proposed in this paper.