{"title":"人跟机器人的纵向控制","authors":"Liang Wang;Jiaming Wu;Xiaopeng Li;Zhaohui Wu;Lin Zhu","doi":"10.1108/JICV-01-2022-0003","DOIUrl":null,"url":null,"abstract":"Purpose - This paper aims to address the longitudinal control problem for person-following robots (PFRs) for the implementation of this technology. Design/methodology/approach - Nine representative car-following models are analyzed from PFRs application and the linear model and optimal velocity model/full velocity difference model are qualified and selected in the PFR control. Findings - A lab PFR with the bar-laser-perception device is developed and tested in the field, and the results indicate that the proposed models perform well in normal person-following scenarios. Originality/value - This study fills a gap in the research on PRFs longitudinal control and provides a useful and practical reference on PFRs longitudinal control for the related research.","PeriodicalId":100793,"journal":{"name":"Journal of Intelligent and Connected Vehicles","volume":"5 2","pages":"88-98"},"PeriodicalIF":0.0000,"publicationDate":"2022-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/9944931/10004541/10004547.pdf","citationCount":"3","resultStr":"{\"title\":\"Longitudinal control for person-following robots\",\"authors\":\"Liang Wang;Jiaming Wu;Xiaopeng Li;Zhaohui Wu;Lin Zhu\",\"doi\":\"10.1108/JICV-01-2022-0003\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Purpose - This paper aims to address the longitudinal control problem for person-following robots (PFRs) for the implementation of this technology. Design/methodology/approach - Nine representative car-following models are analyzed from PFRs application and the linear model and optimal velocity model/full velocity difference model are qualified and selected in the PFR control. Findings - A lab PFR with the bar-laser-perception device is developed and tested in the field, and the results indicate that the proposed models perform well in normal person-following scenarios. Originality/value - This study fills a gap in the research on PRFs longitudinal control and provides a useful and practical reference on PFRs longitudinal control for the related research.\",\"PeriodicalId\":100793,\"journal\":{\"name\":\"Journal of Intelligent and Connected Vehicles\",\"volume\":\"5 2\",\"pages\":\"88-98\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-12-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://ieeexplore.ieee.org/iel7/9944931/10004541/10004547.pdf\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Intelligent and Connected Vehicles\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10004547/\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Intelligent and Connected Vehicles","FirstCategoryId":"1085","ListUrlMain":"https://ieeexplore.ieee.org/document/10004547/","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Purpose - This paper aims to address the longitudinal control problem for person-following robots (PFRs) for the implementation of this technology. Design/methodology/approach - Nine representative car-following models are analyzed from PFRs application and the linear model and optimal velocity model/full velocity difference model are qualified and selected in the PFR control. Findings - A lab PFR with the bar-laser-perception device is developed and tested in the field, and the results indicate that the proposed models perform well in normal person-following scenarios. Originality/value - This study fills a gap in the research on PRFs longitudinal control and provides a useful and practical reference on PFRs longitudinal control for the related research.
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