Steering-by-Tether and Modular Architecture for Human-Following Robot

Conventional human-following robots usually have complex a sensing mechanism, involving a camera, laser range finder, and ultrasonic sensor in order to detect and follow a human. Thus, to simplify this mechanism, the present paper proposes a new architecture for a human-following robot that includes a tether for the robot steering. The proposed robot has a simple structure that consists of driving modules and a steering module. To communicate more effectively, ZigBee wireless communication technology is also implemented