A Collision-Free Pedestrian-Following System for Mobile Robots Base on Path Planning
Hong Zhang, Songyan Wang, Ju Huo, Tao Chao · 2023
In order to overcome the problems of collision avoidance and the pedestrian target loss in pedestrian-following system. This paper proposes a Collision-Free pedestrian following approach with a multi-sensor fusion-based pedestrian detector module and a path planning module. The pedestrian detector module use extended Kalman filter(EKF) to fuse a camera and a 3D LiDAR data for the target pedestrian positioning and perceive obstacles.for the path planning module, In order to track pedestrians in real time and collision-free, a global path planner and a local path planner will work simultaneously. Overall, we conducted experiments on pedestrian following in different environmental conditions to evaluate the performance of ours proposed approach.