RT Journal Article
T1 Development and experimental validation of control algorithm for person-following autonomous robots
A1 Sierra García, J. Enrique
A1 Fernández Rodríguez, Víctor
A1 Santos Peñas, Matilde
A1 Quevedo, Eduardo
A2 Revestido Herrero, Elías
A2 Becerra, Victor M.
A2 Velasco, Francisco Jesús
AB Automatic guided vehicles, in particular, and industrial autonomous mobile robots, in general, are commonly used to automate intralogistics processes. However, there are certain logistic tasks, such as picking objects of variable sizes, shapes, and physical characteristics, that are very difficult to handle fully automatically. In these cases, the collaboration between humans and autonomous robots has been proven key for the efficiency of industrial processes and other applications. To this aim, it is necessary to develop person-following robot solutions. In this work, we propose a fully autonomously controlling autonomous robotic interaction for environments with unknown objects based on real experiments. To do so, we have developed an active tracking system and a control algorithm to implement the person-following strategy on a real industrial automatic-guided vehicle. The algorithm analyzes the cloud of points measured by light detection and ranging (LIDAR) sensor to detect and track the target. From this scan, it estimates the speed of the target to obtain the speed reference value and calculates the direction of the reference by a pure-pursuit algorithm. In addition, to enhance the robustness of the solution, spatial and temporal filters have been implemented to discard obstacles and detect crossings between humans and the automatic industrial vehicle. Static and dynamic test campaigns have been carried out to experimentally validate this approach with the real industrial autonomous-guided vehicle and a safety LIDAR.
PB MDPI
YR 2023
FD 2023-04-30
LK https://hdl.handle.net/20.500.14352/103981
UL https://hdl.handle.net/20.500.14352/103981
LA eng
NO Sierra-García, J.E.; Fernández-Rodríguez, V.; Santos, M.; Quevedo, E. Development and Experimental Validation of Control Algorithm for Person-Following Autonomous Robots. Electronics 2023, 12, 2077. https://doi.org/10.3390/ electronics12092077
NO 2023 Descuentos MDPI
DS Docta Complutense
RD 10 abr 2025