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http://dx.doi.org/10.14372/IEMEK.2020.15.1.35

Development of Human Following Method of Mobile Robot Using QR Code and 2D LiDAR Sensor  

Lee, SeungHyeon (Dong-A University)
Choi, Jae Won (KIRO)
Van Dang, Chien (Dong-A University)
Kim, Jong-Wook (Dong-A University)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.15, no.1, 2020 , pp. 35-42 More about this Journal
Abstract
In this paper, we propose a method to keep the robot at a distance of 30 to 45cm from the user in consideration of each individual's minimum area and inconvenience by using a 2D LiDAR sensor LDS-01 as the secondary sensor along with a QR code. First, the robot determines the brightness of the video and the presence of a QR code. If the light is bright and there is a QR code due to human's presence, the range of the 2D LiDAR sensor is set based on the position of the QR code in the captured image to find and follow the correct target. On the other hand, when the robot does not recognize the QR code due to the low light, the target is followed using a database that stores obstacles and human actions made before the experiment using only the 2D LiDAR sensor. As a result, our robot can follow the target person in four situations based on nine locations with seven types of motion.
Keywords
Human following; Image recognition; QR code; 2D LiDAR; ROS; Robot ethics;
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Times Cited By KSCI : 5  (Citation Analysis)
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