Recovery function of target disappearance for human following robot

This paper presents a human following robot that can continue to follow even when it loses sight of the target human at corner. To realize such robot, the authors propose a human trajectory model of turning the corner. Using the proposed model, the robot can predict trajectory of the target human when he/she turns the corner and disappears from the robot's view. Based upon our observation and intuition of human motion at the corner, we find that the trajectory can be modeled as logarithmic function. In order to confirm effectiveness of the proposed model and the following robot using it, the authors conduct experiment. Experimental result proves the effectiveness and supports our idea successfully.