Visible to the public Leader Recognition and Tracking for Quadruped Robots

TitleLeader Recognition and Tracking for Quadruped Robots
Publication TypeConference Paper
Year of Publication2018
AuthorsZhang, H., Liu, H., Deng, L., Wang, P., Rong, X., Li, Y., Li, B., Wang, H.
Conference Name2018 IEEE International Conference on Information and Automation (ICIA)
Date Publishedaug
KeywordsCameras, collision avoidance, EA* algorithm, Human Behavior, human factors, human recognition, human-machine interaction, Lasers, leader recognition, leader tracking, Legged locomotion, marker recognition system, mobile robots, multi-robot systems, multithread laser scanner, path planning, pubcrawl, quadruped robots, resilience, Resiliency, retro-reflective markers, Robot kinematics, Robot sensing systems, Robot Trust, robot vision, robust trust, variant A* algorithm

To meet the high requirement of human-machine interaction, quadruped robots with human recognition and tracking capability are studied in this paper. We first introduce a marker recognition system which uses multi-thread laser scanner and retro-reflective markers to distinguish the robot's leader and other objects. When the robot follows leader autonomously, the variant A* algorithm which having obstacle grids extended virtually (EA*) is used to plan the path. But if robots need to track and follow the leader's path as closely as possible, it will trust that the path which leader have traveled is safe enough and uses the incremental form of EA* algorithm (IEA*) to reproduce the trajectory. The simulation and experiment results illustrate the feasibility and effectiveness of the proposed algorithms.

Citation Keyzhang_leader_2018