Human Following and Guidance by Autonomous Mobile Robots: A Comprehensive Review

IF 3.6 3区计算机科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS IEEE Access Pub Date : 2025-03-05 DOI:10.1109/ACCESS.2025.3548134

Andrea Eirale;Mauro Martini;Marcello Chiaberge

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Abstract

Collaborative and companion robots are at the forefront of technological innovation, transforming human-robot interaction to address a wide range of tasks and activities. This review provides a comprehensive examination of the current state of research on human following and guidance with autonomous mobile robots. Covering the evolution of research from the inception to the latest advancements in this area, we categorize existing literature based on various attributes including fields of application, technologies employed, and social acceptability. We critically analyze and compare state-of-the-art approaches in perception, tracking, planning, control, and human-robot interaction, highlighting their effectiveness and feasibility. We further classify studies based on application domains where person following and guiding tasks are particularly impactful, such as healthcare, personal assistance, logistics, and tour guiding. We identify persistent challenges and outline open problems, offering recommendations for future research directions. Our review aims to serve as a foundational reference for researchers and practitioners, fostering continued innovation and development in the deployment of autonomous robots for human following and guidance.

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自主移动机器人的人类跟随与引导：综述

协作机器人和同伴机器人处于技术创新的前沿，将人机交互转变为解决广泛的任务和活动。本文综述了自主移动机器人人类跟随和引导的研究现状。涵盖研究从开始到最新进展的演变，我们根据各种属性对现有文献进行分类，包括应用领域，采用的技术和社会可接受性。我们批判性地分析和比较了感知、跟踪、规划、控制和人机交互方面的最新方法，强调了它们的有效性和可行性。我们进一步根据应用领域对研究进行分类，其中人员跟踪和指导任务特别有影响力，如医疗保健、个人协助、物流和导游。我们确定持续的挑战和概述开放的问题，为未来的研究方向提供建议。我们的综述旨在为研究人员和实践者提供基础参考，促进自主机器人在人类跟随和指导方面的持续创新和发展。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Access COMPUTER SCIENCE, INFORMATION SYSTEMSENGIN-ENGINEERING, ELECTRICAL & ELECTRONIC

CiteScore

9.80

自引率

7.70%

发文量

6673

审稿时长

6 weeks

期刊介绍： IEEE Access® is a multidisciplinary, open access (OA), applications-oriented, all-electronic archival journal that continuously presents the results of original research or development across all of IEEE''s fields of interest. IEEE Access will publish articles that are of high interest to readers, original, technically correct, and clearly presented. Supported by author publication charges (APC), its hallmarks are a rapid peer review and publication process with open access to all readers. Unlike IEEE''s traditional Transactions or Journals, reviews are "binary", in that reviewers will either Accept or Reject an article in the form it is submitted in order to achieve rapid turnaround. Especially encouraged are submissions on: Multidisciplinary topics, or applications-oriented articles and negative results that do not fit within the scope of IEEE''s traditional journals. Practical articles discussing new experiments or measurement techniques, interesting solutions to engineering. Development of new or improved fabrication or manufacturing techniques. Reviews or survey articles of new or evolving fields oriented to assist others in understanding the new area.