Autonomous Human-following Robot

Abstract

Autonomous Human-following Robots Represent An Emerging Class Of Assistive Robotic Systems Aimed At Reducing Manual Effort In Transportation Tasks Across Environments Such As Healthcare, Logistics, And Personal Assistance. This Paper Presents The Design And Implementation Of A Cost-effective Autonomous Human-Following Transport Robot Based On An Arduino UNO Microcontroller Platform. The System Integrates Ultrasonic And Infrared Sensing Modules To Enable Real-time Distance Measurement And Obstacle Detection, While A Motor Driver Interface Ensures Controlled Actuation Of High-torque DC Gear Motors Mounted On A Four-wheel Drive Chassis. The Proposed Approach Focuses On Maintaining A Consistent And Safe Distance From A Human Target Using Sensor-based Feedback Control, While Simultaneously Ensuring Collision-free Navigation. The Control Logic Is Developed Using Embedded Programming Techniques, Enabling The Robot To Respond Dynamically To Environmental Changes. The Design Is Guided By Established Principles Of Mobile Robotics, Control Systems, And Embedded System Integration, As Discussed In Standard Literature And Technical Documentation. Experimental Evaluation Is Conducted In Structured Indoor Environments To Assess System Performance In Terms Of Tracking Accuracy, Response Time, And Obstacle Avoidance Capability. The Results Indicate That The System Achieves Reliable Human-following Behavior With Satisfactory Stability And Minimal Error Under Controlled Conditions. Although The Implementation Relies On Low-cost Sensors And Simplified Algorithms, It Demonstrates The Feasibility Of Developing Practical Assistive Robots Using Accessible Technologies. The Work Also Highlights Potential Extensions Involving Advanced Sensing And Intelligent Algorithms To Enhance Adaptability In Complex Real-world Scenarios.

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