外文文献翻译——基于激光测距仪的行人跟踪.docx

Active PedestrianFollowing Using Laser RangeFinder
I. INTRODUCTION
The ability of robots to track and follow moving targetsis essentialto many real life applications such as museum guidance, office or library top of
being able to track the pedestrians,one aspectof human-robot interaction is robot ’s ability to follow a pedestrian target in an indoor environment. There are various scenarioswhere the robot canbe given instructions suchas holding booksin a library or carrying groceriesat a storewhile following the pedestriantarget.
The key componentsof moving target following technique include Simultaneous
Localization and Mapping(SLAM), Detecting and Tracking Moving Objects (DATMO),and motion planning. More often than not, the robots are required to
operatein dynamic environmentswhere there are multiple pedestriansand obstacles in the ,tracking and following a specific target pedestrian become much more challenging. In other words, the following behaviors must be robust enoughto deal with constantocclusionsand obstacleavoidances.
When designing the following algorithm, one intuitive approach is to set the
target location asthe destination for the robot. However, this approachcan easily lead
to losing the target becauseit doesnot react to the target ’smotion nor consider the
visibility problem (since the target