外文文献翻译——基于激光测距仪的行人跟踪.doc

Acｔｉve　Ｐeｄｅｓｔrｉａn　Follｏwｉng Usｉｎg　Laｓer Raｎｇｅ Ｆindｅｒ
Ｉ. ＩNTRODUＣTＩON
Ｔhe　abiｌiｔｙ of ｒobots　to　trａｃｋ　ａnｄ folloｗ ｍｏｖing　ｔarｇeｔｓ is ｅｓsentｉaｌ　to many　ｒeaｌ liｆe aｐpｌｉcaｔions　such as　mｕsｅuｍ gｕidaｎce, oｆfiｃe　or lｉbrary　ａｓsistaｎce． Oｎ top ｏf ｂeｉｎｇ abｌe　ｔo tｒaｃｋ the ｐedestrｉaｎｓ，　one aｓpecｔ of human-ｒoｂoｔ　ｉnｔeｒaｃｔion iｓ ｒoboｔ’ｓ aｂility　ｔo ｆｏllｏw　a ｐedestrｉａn target in　aｎ iｎｄoor eｎvirｏｎｍent.　There are ｖarious ｓcenariｏs where the ｒobot　caｎ ｂe ｇiveｎ inｓtｒuctｉoｎs such aｓ hｏldiｎg bｏｏks iｎ　a librａry or　ｃaｒryinｇ grｏceｒieｓ aｔ a ｓtoｒe whilｅ followiｎg ｔhｅ peｄeｓｔriａn ｔargｅｔ.
Ｔhe kｅy cｏmpoｎeｎtｓ　of　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　oｐerate iｎ dyｎamic　ｅnｖｉｒoｎmenｔs wｈerｅ tｈerｅ arｅ muｌtiｐｌe　ｐｅdｅｓtriaｎs　and ｏbstａcles in the　sｕｒroundiｎgs．Cｏnsequｅnｔly, tracｋing ａnｄ folloｗinｇ a spｅcifｉc taｒｇet pedestrｉａn　beｃomｅ　much mｏre　chａlｌenging． In　ｏthｅｒ　wｏrds, the foｌlｏwiｎg　ｂｅhaｖｉorｓ muｓｔ　bｅ ｒoｂusｔ　enoｕgh to dｅaｌ wiｔh ｃonsｔａnt　ｏcｃｌusｉoｎs anｄ obｓtａcｌｅ aｖoidanceｓ.
Ｗhen　dｅsigning the　foｌlｏｗｉng ａlgoriｔhm,　ｏnｅ　iｎｔｕiｔｉve　aｐprｏach　iｓ to ｓet thｅ　target　ｌｏcatiｏn as the　dｅｓtｉｎation foｒ　ｔhe robｏt.　Howｅvｅr, ｔhis apｐｒoａch　cａn easily lead　ｔo ｌｏsiｎg ｔhe tａrgｅt bｅcause it ｄoｅs nｏｔ　reaｃｔ ｔｏ tｈｅ tａｒgeｔ’s　moｔioｎ noｒ　cｏnsiｄer　tｈe vｉsｉｂilｉty　problem　（ｓincｅ thｅ ｔａｒｇet m