Longitudinal control for person-following robots

Journal article, 2022

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.