Mobile Robot System Realizing Human Following and Autonomous Returning Using Laser Range Finder and Camera

摘要

In recent years, with the development of technology, introduction of autonomous mobile robots to envi-ronments close to human life is expected. Examples are shopping cart robots automatically returning to the shopping cart shed after shopping, and guide robots directing the way back to the starting position from the current position in unknown environment. In this paper, we propose a mobile robot system that has functions of autonomous person following and starting position returning. The robot realizes these functions by analyzing information obtained with a camera and a laser range finder. We verified the validity of the system using a wheel mobile robot in indoor environment.