Development of a Mobile Robot That Plays Tag with Touch-and-Away Behavior Using a Laser Range Finder

The development of robots that play with humans is a challenging topic for robotics. We are developing a robot that plays tag with human players. To realize such a robot, it needs to observe the players and obstacles around it, chase a target player, and touch the player without collision. To achieve this task, we propose two methods. The first one is the player tracking method, by which the robot moves towards a virtual circle surrounding the target player. We used a laser range finder (LRF) as a sensor for player tracking. The second one is a motion control method after approaching the player. Here, the robot moves away from the player by moving towards the opposite side to the player. We conducted a simulation experiment and an experiment using a real robot. Both experiments proved that with the proposed tracking method, the robot properly chased the player and moved away from the player without collision. The contribution of this paper is the development of a robot control method to approach a human and then move away safely.