Moving target following for service robots based on smoothed ND algorithm

作者：Qian Kun^*; Niu Jie

来源：Journal of Huazhong University of Science and Technology (Natural Science Edition), 2013, 41(SUPPL.I): 301-304.

• Collision-free paths
• Domestic services
• Moving targets
• Path following
• People tracking
• Robot localization
• Service robots
• User friendliness

Moving target following is a key function of human-robot interaction for domestic service robots. A person-following method was proposed based on the reactive smoothed nearness diagram (ND) algorithm. Highly efficient simultaneous robot localization and people-tracking were achieved by utilizing onboard laser scanner readings. A single motion rule which applies for all navigational situations was established by computing the gap and valley according to the obstacles. A goal-directed and collision-free path with smooth variance in velocity was computed by this motion rule. The favarable performance and the user friendliness of the direction-following mode and the path-following mode of robots were validated by the experiment results. It can be seen that, in situations with moving disturbances, robots are capable of following a specific person from a certain distance, and the behavior is natural and friendly.

• 出版日期2013
• 单位东南大学