Collision-Free Navigation in Human-Following Task Using a Cognitive Robotic System on Differential Drive Vehicles

Dang, Chien Van; Ahn, Hyun Kyong; Kim, Jong-Wook; Lee, Sang Cheol

doi:10.1109/tcds.2022.3145915

Cited by 8 publications

(5 citation statements)

References 30 publications

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“…For details of the proof, see [34]. We have used this lemma to implement the human-following robot [12].…”

Section: Lemma 1 the Function Bmentioning

confidence: 99%

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Complex-Valued Function Modeling of Bilateration and its Applications

Ahn,

Dang,

Lee

2023

IEEE Access

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Bilateration is one of the localization methods that provides the location information of the target node using two anchors' location information and two distances between the target node and each anchor. This paper shows that bilateration with different configurations in a three-anchor positioning system gives better precision than trilateration and the same precision as the nonlinear least square (NLS) method when the target is outside the convex hull of the anchors, and also that the combinatorial use of bilaterations gives the same level of precision as the NLS method or tilateration even when the target is inside the convex hull of the anchors. For the rigorous proof of this claim, we first develop a theory that the bilateration method can be naturally modeled and understood by adopting a pair of distances as a complex variable and the mapping in the bilateration method as a complex-valued sine function with a complex variable, respectively. We explain why the proposed complexification is more intuitive and applicable to real-world problems than the real-valued bilateration method. Since the complex sine function has many nice properties and oneto-one correspondence, it can be regarded as a fundamental transformation from the measurement space to position space in a two-dimensional positioning system. Next, based on the complex-valued function theory for bilateration, we describe the error propagation and show that a nonlinear least square method can be replaced with the closed formula in the bilateration localization system. The error propagation of the bilateration has a unique property: the error in position space propagates only in the horizontal direction with anchors and is unchanged in the other direction regardless of the target's position.

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“…For details of the proof, see [34]. We have used this lemma to implement the human-following robot [12].…”

Section: Lemma 1 the Function Bmentioning

confidence: 99%

“…As the target person moves, the vehicle calculates a new relative position in real-time. By comparing this with the previous position of the person and controlling the wheels, we can successfully implement a human-following robot [12] using only two UWB sensors mounted on the vehicle.…”

mentioning

confidence: 99%

Complex-Valued Function Modeling of Bilateration and its Applications

Ahn,

Dang,

Lee

2023

IEEE Access

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“…Contrary to these approaches, this study proposes a methodology that simply adds an additional UWB sensor to an existing UWB-based human-following robot [31,32]. This method enables the real-time classification of human movement using minimal CPU operations, without using deep learning tools.…”

Section: Introductionmentioning

confidence: 99%

“…Additionally, by relying on the distance metrics between sensors, this technique can offer superior reliability in detecting human movement states over vision-or laser-based methods, particularly in situations where temporary visual obstructions of the user occur. Additionally, the robustness of the UWB sensors facilitates the robot's ability to track movements with a reasonable degree of accuracy, even when the user is performing cornering maneuvers [32]. This means that the robot can effectively follow a person moving around corners, maintaining the tracking performance despite the user being momentarily beyond direct sight.…”

Section: Introductionmentioning

confidence: 99%

“…In the case of huma-following robots, which utilize UWB sensors, it is especially important to discern the movements of both human legs. Traditional human-following robots [31][32][33] employing ultra-wideband (UWB) sensor technology ascertain the position of a user through bilateration, calculating the distance from the robot to the person. These systems typically follow the user based on their location.…”

Section: Introductionmentioning

confidence: 99%

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Real-Time Human Movement Recognition Using Ultra-Wideband Sensors

Noh,

Ahn,

Lee

2024

Electronics

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This study introduces a methodology for the real-time detection of human movement based on two legs using ultra-wideband (UWB) sensors. Movements were primarily categorized into four states: stopped, walking, lingering, and the transition between sitting and standing. To classify these movements, UWB sensors were used to measure the distance between the designated point and a specific point on the two legs in the human body. By analyzing the measured distance values, a movement state classification model was constructed. In comparison to conventional vision/laser/LiDAR-based research, this approach requires fewer computational resources and provides distinguished real-time human movement detection within a CPU environment. Consequently, this research presents a novel strategy to effectively recognize human movements during human–robot interactions. The proposed model effectively discerned four distinct movement states with classification accuracy of around 95%, demonstrating the novel strategy’s efficacy.

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