Person following with mobile robots has traditionally been an important research topic. It has been solved, in most cases, by the use of machine vision or laser rangefinders. In some special circumstances, such as a smoky environment, the use of optical sensors is not a good solution. This paper proposes and compares alternative sensors and methods to perform a person following in low visibility conditions, such as smoky environments in firefighting scenarios. The use of laser rangefinder and sonar sensors is proposed in combination with a vision system that can determine the amount of smoke in the environment. The smoke detection algorithm provides the robot with the ability to use a different combination of sensors to perform robot navigation and person following depending on the visibility in the environment.
Keywords: TDoA; laser rangefinder; low-visibility; risky environment; smoke; ultrasound.