Longitudinal control for person-following robots
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 mode...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Tsinghua University Press
2022-05-01
|
| Series: | Journal of Intelligent and Connected Vehicles |
| Subjects: | |
| Online Access: | https://www.emerald.com/insight/content/doi/10.1108/JICV-01-2022-0003/full/pdf?title=longitudinal-control-for-person-following-robots |
| _version_ | 1797334129545576448 |
|---|---|
| author | Liang Wang Jiaming Wu Xiaopeng Li Zhaohui Wu Lin Zhu |
| author_facet | Liang Wang Jiaming Wu Xiaopeng Li Zhaohui Wu Lin Zhu |
| author_sort | Liang Wang |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-08T08:15:15Z |
| format | Article |
| id | doaj.art-3998326304394ffc8bde230502fbc4da |
| institution | Directory Open Access Journal |
| issn | 2399-9802 |
| language | English |
| last_indexed | 2024-03-08T08:15:15Z |
| publishDate | 2022-05-01 |
| publisher | Tsinghua University Press |
| record_format | Article |
| series | Journal of Intelligent and Connected Vehicles |
| spelling | doaj.art-3998326304394ffc8bde230502fbc4da2024-02-02T07:29:22ZengTsinghua University PressJournal of Intelligent and Connected Vehicles2399-98022022-05-0152889810.1108/JICV-01-2022-0003682609Longitudinal control for person-following robotsLiang Wang0Jiaming Wu1Xiaopeng Li2Zhaohui Wu3Lin Zhu4China Academy of Transportation Sciences, Beijing, ChinaDepartment of Architecture and Civil Engineering, Chalmers University of Technology, Gothenburg, SwedenUniversity of South Florida, Tampa, Florida, USAChina Academy of Transportation Sciences, Beijing, ChinaChina Academy of Transportation Sciences, Beijing, ChinaPurpose – 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.https://www.emerald.com/insight/content/doi/10.1108/JICV-01-2022-0003/full/pdf?title=longitudinal-control-for-person-following-robotsperson following robotlongitudinal control modelparameter optimization |
| spellingShingle | Liang Wang Jiaming Wu Xiaopeng Li Zhaohui Wu Lin Zhu Longitudinal control for person-following robots Journal of Intelligent and Connected Vehicles person following robot longitudinal control model parameter optimization |
| title | Longitudinal control for person-following robots |
| title_full | Longitudinal control for person-following robots |
| title_fullStr | Longitudinal control for person-following robots |
| title_full_unstemmed | Longitudinal control for person-following robots |
| title_short | Longitudinal control for person-following robots |
| title_sort | longitudinal control for person following robots |
| topic | person following robot longitudinal control model parameter optimization |
| url | https://www.emerald.com/insight/content/doi/10.1108/JICV-01-2022-0003/full/pdf?title=longitudinal-control-for-person-following-robots |
| work_keys_str_mv | AT liangwang longitudinalcontrolforpersonfollowingrobots AT jiamingwu longitudinalcontrolforpersonfollowingrobots AT xiaopengli longitudinalcontrolforpersonfollowingrobots AT zhaohuiwu longitudinalcontrolforpersonfollowingrobots AT linzhu longitudinalcontrolforpersonfollowingrobots |