Human detecting and following mobile robot using a laser range sensor

Jianzhao Cai*, Takafumi Matsumaru

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)


To meet the higher requirements of human-machine interface technology, a robot with human-following capability, a classic but significant problem, is discussed in this paper. We first propose a human detection method that uses only a single laser range scanner to detect the waist of the target person. Second, owing to the limited speed of a robot and the potential risk of obstructions, a new human-following algorithm is proposed. The speed and acceleration of a robot are adaptive to the human-walking speed and the distance between the human and robot. Finally, the performance of the proposed control system is successfully verified through a set of experimental results obtained using a two-wheelmobile robot working in a real environment under different scenarios.

Original languageEnglish
Pages (from-to)718-734
Number of pages17
JournalJournal of Robotics and Mechatronics
Issue number6
Publication statusPublished - 2014 Dec 1


  • Human detection
  • Human following
  • Laser range scanner
  • Limited velocity
  • Mobile robot

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering


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