Development of a Guide-Dog Robot: Leading and Recognizing a Visually-Handicapped Person using a LRF

A conceptual Guide-Dog Robot prototype to lead and to recognize a visually-handicapped person is developed and discussed in this paper. Key design features of the robot include a movable platform, human-machine interface, and capability of avoiding obstacles. A novel algorithm enabling the robot to...

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Bibliographic Details
Published in:Journal of Advanced Mechanical Design, Systems, and Manufacturing Systems, and Manufacturing, 2010, Vol.4(1), pp.194-205
Main Authors: SAEGUSA, Shozo, YASUDA, Yuya, URATANI, Yoshitaka, TANAKA, Eiichirou, MAKINO, Toshiaki, CHANG, Jen-Yuan (James)
Format: Article
Language:English
Subjects:
Algorithms
Autonomous Robot
Corridors
Design engineering
Guide Dog
Human
Human Interface
Laser Range Finder (LRF)
Obstacles
Robots
Running
Walking
Welfare System
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Summary:A conceptual Guide-Dog Robot prototype to lead and to recognize a visually-handicapped person is developed and discussed in this paper. Key design features of the robot include a movable platform, human-machine interface, and capability of avoiding obstacles. A novel algorithm enabling the robot to recognize its follower's locomotion as well to detect the center of corridor is proposed and implemented in the robot's human-machine interface. It is demonstrated that using the proposed novel leading and detecting algorithm along with a rapid scanning laser range finder (LRF) sensor, the robot is able to successfully and effectively lead a human walking in corridor without running into obstacles such as trash boxes or adjacent walking persons. Position and trajectory of the robot leading a human maneuvering in common corridor environment are measured by an independent LRF observer. The measured data suggest that the proposed algorithms are effective to enable the robot to detect center of the corridor and position of its follower correctly.
ISSN:1881-3054
1881-3054
DOI:10.1299/jamdsm.4.194