利用差分机器人实现高效稳健的人类追随系统

IF 1.5 Q3 AUTOMATION & CONTROL SYSTEMS IET Cybersystems and Robotics Pub Date : 2024-01-25 DOI:10.1049/csy2.12108
Jiangchao Zhu, Changjia Ma, Chao Xu, Fei Gao
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引用次数: 0

摘要

本文提出了一种利用差分机器人进行人体跟踪的新型系统,包括一个精确的三维人体位置跟踪模块和一种确保安全性和动态可行性的新型规划策略。作者利用云台相机和激光雷达相结合的方式进行长期精确的人体探测。然后,规划模块以目标的未来轨迹为参考,生成粗略的路径,以确保跟踪的可视性。然后,在考虑其他约束条件和跟踪距离的基础上对轨迹进行优化。实验证明了我们的系统在复杂环境中的鲁棒性和效率,展示了其在各种应用中的潜力。
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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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.

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来源期刊
IET Cybersystems and Robotics
IET Cybersystems and Robotics Computer Science-Information Systems
CiteScore
3.70
自引率
0.00%
发文量
31
审稿时长
34 weeks
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