Sensor Integration for Stable Target Focusing in Human-Following Robot

A human-following robot needs not only to observe the target but also to detect other human affecting bad influences on a human-following behavior. Generally, a particle filter is utilized to implement human tracking system like a human-following robot. However, particles are sometimes distributed to only a certain human when there are several humans. Then, a particle filter based on particle distribution control is proposed for multi targets tracking and distinguishing and focusing the target human. In this paper, a human-following robot with sensing systems for focusing target is developed including a novel particle filter based on particle control. Human-following experiment was performed, and the result is provided in the paper.