Purpose–This paper aims to address the longitudinal control problem for person-following robots(PFRs)for the implementation of this technology.Design/methodology/approach–Nine representative car-following models are...Purpose–This paper aims to address the longitudinal control problem for person-following robots(PFRs)for the implementation of this technology.Design/methodology/approach–Nine representative car-following models are analyzed from PFRs application and the linear model and optimal velocity model/full velocity difference model are qualified and selected in the PFR control.Findings–A lab PFR with the bar-laser-perception device is developed and tested in the field,and the results indicate that the proposed models perform well in normal person-following scenarios.Originality/value–This study fills a gap in the research on PRFs longitudinal control and provides a useful and practical reference on PFRs longitudinal control for the related research.展开更多
基金supported by the Basal Research Fund of Central Public Research Institute of China(Grant No.20212702).
文摘Purpose–This paper aims to address the longitudinal control problem for person-following robots(PFRs)for the implementation of this technology.Design/methodology/approach–Nine representative car-following models are analyzed from PFRs application and the linear model and optimal velocity model/full velocity difference model are qualified and selected in the PFR control.Findings–A lab PFR with the bar-laser-perception device is developed and tested in the field,and the results indicate that the proposed models perform well in normal person-following scenarios.Originality/value–This study fills a gap in the research on PRFs longitudinal control and provides a useful and practical reference on PFRs longitudinal control for the related research.
