An efficient and robust system for human following scenario using differential robot  

作　　者：Jiangchao Zhu Changjia Ma Chao Xu Fei Gao 

机构地区：[1]College of Control Science and Engineering,Zhejiang University,Hangzhou,China

出　　处：《IET Cyber-Systems and Robotics》2024年第1期15-23,共9页智能系统与机器人（英文）

摘　　要：A novel system for human following using a differential robot,including an accurate 3‐D human position tracking module and a novel planning strategy that ensures safety and dynamic feasibility,is proposed.The authors utilise a combination of gimbal camera and LiDAR for long‐term accurate human detection.Then the planning module takes the target's future trajectory as a reference to generate a coarse path to ensure the following visibility.After that,the trajectory is optimised considering other constraints and following distance.Experiments demonstrate the robustness and efficiency of our system in complex environments,demonstrating its potential in various applications.

关 键 词：human‐robot interaction trajectory optimization visual tracking 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]