@inproceedings{a7cf20692a7a46caaa1d7c1ce4cb293e,
title = "A Collision-Free Person-Following Approach Based on Path Planning",
abstract = "Person following is a crucial capability for mobile robots in tasks of human assistance and cooperation. In this paper, a person-following approach based on path planning is proposed for mobile robots, which takes person following and obstacle avoidance into account in a unified framework. The proposed approach is comprised of a sensing module and a planning module. The sensing module with a camera and a 3D LiDAR is employed to locate the target person and perceive obstacles. For the planning module, the combination of global planner and local planner effectively outputs collision-free paths and control commands for a mobile robot to keep following the target person. Experiments were conducted to evaluate the performance of the proposed approach.",
keywords = "Mobile robots, obstacle avoidance, path planning, person following",
author = "Lei Pang and Zhiqiang Cao and Junzhi Yu and Weimin Zhang and Xuechao Chen",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 ; Conference date: 13-10-2020 Through 16-10-2020",
year = "2020",
month = oct,
day = "13",
doi = "10.1109/ICMA49215.2020.9233717",
language = "English",
series = "2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "327--331",
booktitle = "2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020",
address = "United States",
}