The Hands-Free Push-Cart: Autonomous Following in Front by Predicting User Trajectory Around Obstacles
| Autor: | Richard T. Vaughan, Payam Nikdel, Rakesh Shrestha |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science Mobile robot 02 engineering and technology Entertainment 020901 industrial engineering & automation Control theory Human–computer interaction Obstacle 0202 electrical engineering electronic engineering information engineering Trajectory Robot 020201 artificial intelligence & image processing PATH (variable) |
| Zdroj: | ICRA |
| Popis: | This paper demonstrates an autonomous mobile robot that follows a walking user while staying ahead of them. Despite several useful applications for autonomous push-carts, this problem has received much less attention than the easier problem of following from behind. In contrast to previous work, we use multi-modal person detection and a human-motion model that considers obstacles to predict the future path of the user. We implement the system with a modular architecture of obstacle mapper, human tracker, human motion model, robot motion planner and robot motion controller. We report on the performance of the robot in real-world experiments. We believe that approaches to this largely overlooked problem could be useful in real industrial, domestic and entertainment applications in the near future. |
| Databáze: | OpenAIRE |
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