2015
IMAACA 2015 Proceeding
User front-following behaviour for a mobility assistance robot: a kinematic control approach
Authors: George P. Moustris, Athanasios Dometios, Costas S. Tzafestas
Abstract
We present a robot following behavior, which enables a mobility assistance robot to follow the user from the front. Although this behavior is desirable in various circumstances, it has received scarce attention. Our proposed solution consists of a kinematic control scheme, tied to a human position estimator based on a Laser Range Finder. Experiments have been performed in an indoor environment with ten users, and the results have been analyzed and presented. We show that the control is feasible but inserts a cognitive load on the users, who tend to ?drive? the robot to the optimal paths they would take under normal conditions.
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