車輪型移動ロボットのための対向歩行者への追跡開始動作生成

抄録

This study focuses on generating a trajectory for transitioning from autonomous navigation to follow-me mode, particularly when a person and a robot are facing each other while moving forward. The proposed method utilizes a virtual manipulator to generate the tracking movement. By equipping a wheeled robot with a virtual manipulator oriented towards the target, the robot is guided towards the intended direction by adjusting its endpoint to match the person's movements. The robot's motion is generated through iterative calculations using a single Jacobian matrix. In addition to the tracking functionality mentioned above, specific person detection capabilities are also implemented. Experiments were conducted in indoor corridors and the effectiveness of the proposed method was confirmed.