Single 2D lidar based follow-me of mobile robot on hilly terrains

Kim, Jihoon; Jeong, Hyungjin; Lee, Donghun

doi:10.1007/s12206-020-0835-7

Cited by 6 publications

(3 citation statements)

References 15 publications

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“…It is worth noting that this method is applicable for non-rigid moving objects (that is, the shapes of the objects may be changeable), such as pedestrians. In [43], a pitching 2D LiDAR is used to identify and follow the leader in hilly terrain. For the recognition of moving objects of a moving 2D LiDAR, the method of identifying the leader in this literature may be worth learning.…”

Section: Problem 23-for Categories 1 To 6: the Distortion Of The 3d P...mentioning

confidence: 99%

“…Therefore, when there are moving objects in the environment, a moving 2D LiDAR is not likely to capture their shapes. Therefore, for a moving 2D LiDAR, the recognition and removal of moving objects is a problem that needs to be solved [42,43]. For a commercialized 3D LiDAR, the process of moving objects is simple and mature [44][45][46][47], but for a moving 2D LiDAR, the process of moving objects is much more difficult and relatively unexplored, because the shape of a moving object is difficult to be accurately captured by a moving 2D LiDAR.…”

Section: Introductionmentioning

confidence: 99%

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A Survey of Low-Cost 3D Laser Scanning Technology

Yuan

Liu

et al. 2021

Applied Sciences

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By moving a commercial 2D LiDAR, 3D maps of the environment can be built, based on the data of a 2D LiDAR and its movements. Compared to a commercial 3D LiDAR, a moving 2D LiDAR is more economical. A series of problems need to be solved in order for a moving 2D LiDAR to perform better, among them, improving accuracy and real-time performance. In order to solve these problems, estimating the movements of a 2D LiDAR, and identifying and removing moving objects in the environment, are issues that should be studied. More specifically, calibrating the installation error between the 2D LiDAR and the moving unit, the movement estimation of the moving unit, and identifying moving objects at low scanning frequencies, are involved. As actual applications are mostly dynamic, and in these applications, a moving 2D LiDAR moves between multiple moving objects, we believe that, for a moving 2D LiDAR, how to accurately construct 3D maps in dynamic environments will be an important future research topic. Moreover, how to deal with moving objects in a dynamic environment via a moving 2D LiDAR has not been solved by previous research.

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Section: Problem 23-for Categories 1 To 6: the Distortion Of The 3d P...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Survey of Low-Cost 3D Laser Scanning Technology

Yuan

Liu

et al. 2021

Applied Sciences

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“…One application of such a technique is Follow Me, a robot's behavior to follow a walking person [17]. In this task, the robot observes the target person's position using sensors, such as laser range finders (LRF) [18,19], cameras [20,21], or RGB-D sensors [22]. Then, the robot moves towards the target person, keeping a distance from the target and avoiding obstacles.…”

Section: Related Workmentioning

confidence: 99%

Development of a Mobile Robot That Plays Tag with Touch-and-Away Behavior Using a Laser Range Finder

et al. 2021

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The development of robots that play with humans is a challenging topic for robotics. We are developing a robot that plays tag with human players. To realize such a robot, it needs to observe the players and obstacles around it, chase a target player, and touch the player without collision. To achieve this task, we propose two methods. The first one is the player tracking method, by which the robot moves towards a virtual circle surrounding the target player. We used a laser range finder (LRF) as a sensor for player tracking. The second one is a motion control method after approaching the player. Here, the robot moves away from the player by moving towards the opposite side to the player. We conducted a simulation experiment and an experiment using a real robot. Both experiments proved that with the proposed tracking method, the robot properly chased the player and moved away from the player without collision. The contribution of this paper is the development of a robot control method to approach a human and then move away safely.

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