{"title":"利用差分机器人实现高效稳健的人类追随系统","authors":"Jiangchao Zhu, Changjia Ma, Chao Xu, Fei Gao","doi":"10.1049/csy2.12108","DOIUrl":null,"url":null,"abstract":"<p>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.</p>","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":null,"pages":null},"PeriodicalIF":1.5000,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12108","citationCount":"0","resultStr":"{\"title\":\"An efficient and robust system for human following scenario using differential robot\",\"authors\":\"Jiangchao Zhu, Changjia Ma, Chao Xu, Fei Gao\",\"doi\":\"10.1049/csy2.12108\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>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.</p>\",\"PeriodicalId\":34110,\"journal\":{\"name\":\"IET Cybersystems and Robotics\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.5000,\"publicationDate\":\"2024-01-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12108\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IET Cybersystems and Robotics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1049/csy2.12108\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Cybersystems and Robotics","FirstCategoryId":"1085","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1049/csy2.12108","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
An efficient and robust system for human following scenario using differential robot
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.