Authors:
Roberto Calvo
1
;
José M. Cañas
1
and
Lía García-Pérez
2
Affiliations:
1
Grupo de Robótica, Universidad Rey Juan Carlos, Spain
;
2
Escuela Politécnica Superior, Universidad Carlos III, Spain
Keyword(s):
Robot behavior, autonomy, person tracking and pursuit.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
Abstract:
One useful capability for service robots is person following. Service robots, like other autonomous robots, are demanded to exhibit a full range of different behaviors. A control architecture is required to integrate them. This paper describes the design and implementation of the person following behavior within JDE architecture, as two groups of concurrent schemas. The robot follows a person wearing a coloured shirt, actively searches for her when lost in the image, and safely avoids obstacles. Successful experiments with a real robot are also described, that validate JDE for this vision-based real-time behavior.