外文文献翻译——基于激光测距仪的行人跟踪.docVIP

Active Pedestrian Following Using Laser I. INTRODUCTION The ability of robots to track and follow moving targets is essential to many real life applications such as museum guidance, office or library assistance. On top of being able to track the pedestrians, one aspect of human-robot interaction is robot’s ability to follow a pedestrian target in an indoor environment. There are various scenarios where the robot can be given instructions such as holding books in a library or carrying groceries at a store while following the pedestrian target. The key components of moving target following technique include Simultaneous Localization and Mapping(SLAM), Detecting and Tracking Moving Objects (DATMO),and motion planning. More often than not, the robots are required to operate in dynamic environments where there are multiple pedestrians and obstacles in the surroundings.Consequently, tracking and following a specific target pedestrian become much more challenging. In other words, the following behaviors must be robust enough to deal with constant occlusions and obstacle avoidances. When designing the following algorithm, one intuitive approach is to set the target location as the destination for the robot. However, this approach can easily lead to losing the target because it does not react to the target’s motion nor consider the visibility problem (since the target may be occluded by obstacles and become invisible). For achieving robust target following and tracking, the robot should have the intelligent to predict target motion and gather observations actively. In this paper, we propose a moving target following planner which is able to manage obstacle avoidance and target visibility problems. Experimental results are shown to compare the intuitive approach with our approach and prove the importance of active information gathering in planning.This paper is organized as follow: Section II discusses related works of DATMO and planning algorithms. Section III describes our