Autonomous Human Tracking using UWB sensors for mobile robots: An Observer-Based approach to follow the human path

Deremetz, Mathieu; Lenain, Roland; Laneurit, Jean; Debain, Christophe; Peynot, Thierry

doi:10.1109/ccta41146.2020.9206153

Cited by 8 publications

(6 citation statements)

References 11 publications

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“…It is equipped with the LinkTrack AOA device, which is commonly referred to as UWB for target localization. We put the anchor of UWB on the WMR as shown in Figure 8(a), and let the target hold the UWB tag as shown in Figure 8(b) (Deremetz et al , 2020; Sarmento et al , 2022; Xue et al , 2022). We have fused inertial measurement unit and wheel encoder data to obtain a more accurate odometry.…”

Section: Experiments Resultsmentioning

confidence: 99%

“…Our method is denoted as method A. (Deremetz et al , 2020) designs a control law that enables the distance of the robot and the target to approach zero in the longitudinal direction, which is denoted as method B. Specifically, their control strategy is presented as: in which x , y are the position of target in the coordinate of WMR, v p and θ are the target velocity and the relative orientation, respectively and the v and w are set to zero when x is zero.…”

Section: Experiments Resultsmentioning

confidence: 99%

Section: Target-following In Turning Scenariosmentioning

confidence: 99%

“…However, the height information in 3D LiDAR points is disregarded and converted into laser scan points. It is equipped with the LinkTrack AOA (Deremetz et al, 2020;Sarmento et al, 2022;Xue et al, 2022). We have fused inertial measurement unit and wheel encoder data to obtain a more accurate odometry.…”

Section: Implementation Detailsmentioning

confidence: 99%

“…To mitigate this issue, Toan et al (2023a) enables additional methods to determine the target when it is prone to follow failure, such as human body identification. Deremetz et al (2020), Sarmento et al (2022), Xue et al (2022) use UWB system to locate target. However, the accuracy of this method decreases when there are obstructions in the middle, rendering the target less trustworthy.…”

Section: Introductionmentioning

confidence: 99%

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A robust human target following system in corridor environment based on wall detection

Li,

2023

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Purpose In corridor environments, human-following robot encounter difficulties when the target turning around at the corridor intersections, as walls may cause complete occlusion. This paper aims to propose a collision-free following system for robot to track humans in corridors without a prior map. Design/methodology/approach In addition to following a target and avoiding collisions robustly, the proposed system calculates the positions of walls in the environment in real-time. This allows the system to maintain a stable tracking of the target even if it is obscured after turning. The proposed solution is integrated into a four-wheeled differential drive mobile robot to follow a target in a corridor environment in real-world. Findings The experimental results demonstrate that the robot equipped with the proposed system is capable of avoiding obstacles and following a human target robustly in the corridors. Moreover, the robot achieves a 90% success rate in maintaining a stable tracking of the target after the target turns around a corner with high speed. Originality/value This paper proposes a human target following system incorporating three novel features: a path planning method based on wall positions is introduced to ensure stable tracking of the target even when it is obscured due to target turns; improvements are made to the random sample consensus (RANSAC) algorithm, enhancing its accuracy in calculating wall positions. The system is integrated into a four-wheeled differential drive mobile robot effectively demonstrates its remarkable robustness and real-time performance.

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Section: Experiments Resultsmentioning

confidence: 99%

Section: Experiments Resultsmentioning

confidence: 99%

Section: Target-following In Turning Scenariosmentioning

confidence: 99%

Section: Implementation Detailsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A robust human target following system in corridor environment based on wall detection

Li,

2023

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Fusion of Time-of-Flight Based Sensors with Monocular Cameras for a Robotic Person Follower

Sarmento,

Neves dos Santos,

Silva Aguiar

et al. 2024

J Intell Robot Syst

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Human-robot collaboration (HRC) is becoming increasingly important in advanced production systems, such as those used in industries and agriculture. This type of collaboration can contribute to productivity increase by reducing physical strain on humans, which can lead to reduced injuries and improved morale. One crucial aspect of HRC is the ability of the robot to follow a specific human operator safely. To address this challenge, a novel methodology is proposed that employs monocular vision and ultra-wideband (UWB) transceivers to determine the relative position of a human target with respect to the robot. UWB transceivers are capable of tracking humans with UWB transceivers but exhibit a significant angular error. To reduce this error, monocular cameras with Deep Learning object detection are used to detect humans. The reduction in angular error is achieved through sensor fusion, combining the outputs of both sensors using a histogram-based filter. This filter projects and intersects the measurements from both sources onto a 2D grid. By combining UWB and monocular vision, a remarkable 66.67% reduction in angular error compared to UWB localization alone is achieved. This approach demonstrates an average processing time of 0.0183s and an average localization error of 0.14 meters when tracking a person walking at an average speed of 0.21 m/s. This novel algorithm holds promise for enabling efficient and safe human-robot collaboration, providing a valuable contribution to the field of robotics.

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Target-following Robotic Platform Based on UWB Localization and Depth Camera

Janousek,

Slanina,

Walendziuk

2024

IFAC-PapersOnLine

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Autonomous Human Tracking using UWB sensors for mobile robots: An Observer-Based approach to follow the human path

Cited by 8 publications

References 11 publications

A robust human target following system in corridor environment based on wall detection

A robust human target following system in corridor environment based on wall detection

Fusion of Time-of-Flight Based Sensors with Monocular Cameras for a Robotic Person Follower

Target-following Robotic Platform Based on UWB Localization and Depth Camera

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