Control and experimentation of a personal robot tracking system

In this paper, the discussion is focused on the concept of a personal robot system, which is capable of tracking and following a human operator. A prototype robot has been designed and constructed to function externally within a human-centric environment, and this is introduced. The main features of its operation are described and some specific problem areas, due to the nature of the robot, are considered. In particular the robot's method of tracking is given in detail, initially by considering the realistic options available before the final method was selected. Some important features of the robot's construction are outlined, again with reference to alternatives available and reasons for the final selection. The method of tracking control employed by the robot thus far is discussed and an indication is given of future possible procedures, which could be tried. Finally, some experimental results are given, with a particular focus on the robot's head tracking performance.