What is it about?

In corridor environments, human-following robot (HFR) encounter difficulties when following a target making turns at the corridor intersections, as walls may cause complete occlusion and lead to temporary or even permanent loss of the target from the robot's field of view. We propose a collision-free following system to maintain a stable tracking of the target even if it is obscured after turning.

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Why is it important?

– This paper proposes a human target following system incorporating three novel features: a path planning method based on wall positions is introduced to ensure stable tracking of the target even when it is obscured due to target turns; improvements are made to the random sample consensus (RANSAC) algorithm, enhancing its accuracy in calculating wall positions. The system is integrated into a four-wheeled differential drive mobile robot effectively demonstrates its remarkable robustness and real-time performance.


The experimental results demonstrate that the robot equipped with the proposed system is capable of avoiding obstacles and following a human target robustly in the corridors. Moreover, the robot achieves a 90% success rate in maintaining a stable tracking of the target after the target turns around a corner with high speed.

Ruifeng Li
Key Laboratory of Advanced Process Control for Light Industry

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This page is a summary of: A robust human target following system in corridor environment based on wall detection, Industrial Robot the international journal of robotics research and application, September 2023, Emerald,
DOI: 10.1108/ir-05-2023-0102.
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