An Adaptive Control Scheme for Human Following Behavior of Mobile Robots
Plamen P. Petrov, Veska M. Georgieva, Ivan Mladenov Kralov, Stiliyan Nikolov · 2020
This paper presents an adaptive mobile robot control scheme for autonomous human following in which the robot keeps a desired distance from the person. A human-robot interaction model in error coordinates suitable for robot following applications is proposed. An adaptive control law is presented to tackle the problem of the unknown human velocity. Simulation and experimental results are presented to illustrate the effectiveness of the proposed control scheme.