Active Pedestrian Following Using Laser Range FinderI. INTRODUCTIONThe ability of robots to track and follow moving targets is essential to many reallife applications such as museum guidance, office or library assistance. On top ofbeing able to track the pedestrians, one aspect of human-robot interaction is robot’sability to follow a pedestrian target in an indoor environment. There are variousscenarios where the robot can be given instructions such as holding books in a libraryor carrying groceries at a store while following the pedestrian ponents of moving target following technique include SimultaneousLocalization and Mapping(SLAM), Detecting and Tracking Moving Objects(DATMO),and motion planning. More often than not, the robots are required tooperate in dynamic environments where there are multiple pedestrians and obstaclesin the , tracking and following a specific target e much more challenging. In other words, the following behaviors must berobust enough to deal with constant occlusions and obstacle designing the following algorithm, one intuitive approach is to set thetarget location as the destination for the robot. However, this approach can easily leadto losing the target because it does not react to the target’s motion nor consider thevisibility problem (since the target may be occluded by obstacles and einvisible).