Active Pedestrian Following Using Laser Range Finder

摘要：

People tracking and following has become an increasingly popular research topic in recent years.In this paper, two target following methods are proposed and compared.The first is an intuitive method,it sets a pseudo goal further away than the actual target location and use obstacle avoidance algorithm to reach the pseudo goal.The second method uses heuristic search to find a trajectory which can maximize target visibility and minimize the distance between robot and target at the same time.Experimental results show that the proposed trajectory optimization method greatly outperforms the intuitive approach.

作者: Chin-Lung Chen Chih-Chung Chou Feng-Li Lian

作者单位: Department of Electrical Engineering National Taiwan University Taipei,10617,Taiwan

会议类型: 国际会议

会议名称: 第八届IEEE信息与自动化国际会议(ICIC 2011)

会议地点: 深圳

会议语种:英文

页码: 690-695

在线出版日期: 2011-06-06（万方平台首次上网日期，不代表论文的发表时间）