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Human tracking path planning method

asked 2018-01-29 04:56:45 -0600

Mobile_robot gravatar image

updated 2018-01-30 04:33:40 -0600


I have started a human tracking project. I have already the position of the Target Person to follow (by LIDAR and Radio). Now,I am searching the "best" way to generate a trajectory (or a velocity command). As far as I understood the Artificial Potential Field could be a logic candidate and I do not need to use the nav stack. I am searching a simple and easy to implement method which has certain robustness level too.

I would appreciate your thoughts about this. Do you propose another method?


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Sorry for the noise but I wonder what you are using for Lidar & Radio tracking of a person.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2018-01-30 10:09:35 -0600 )edit

You can start with the leg_detector package.

Mobile_robot gravatar image Mobile_robot  ( 2018-02-01 03:21:47 -0600 )edit

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answered 2018-01-29 15:19:28 -0600

We really need to know what sort of environment this will be operated in and what type of platform will be following the human in order to help you with this. It is a UAV flying through a jungle or a turtle bot driving through an office for example?

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Thanks a lot @PeteBlackerThe3rd for your answer. Our platform is a Differential Wheeled Robot. We would like that the robot follows the operator in outdoor environment (for example an agriculture field).

Mobile_robot gravatar image Mobile_robot  ( 2018-01-30 04:32:29 -0600 )edit

Okay, I've got a good idea now. The route planning is the easy part of this, the hard part is perceiving the terrain so you can determine were is safe/dangerous/impossible for your robot. Next question, how are you mapping your environment?

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-02-02 14:10:21 -0600 )edit

answered 2018-01-29 10:25:02 -0600

This code has an easy and interesting method:

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Thanks a lot @Rodolfo8 for your proposition... But unfortunately it is not what I m searching.

Mobile_robot gravatar image Mobile_robot  ( 2018-01-30 04:26:49 -0600 )edit

hey Mobile_robot, I'm looking for the same solution. In they suggested to use move_base with a little tweak. Unfortunately I haven't tried it yet.

Have you found a suitable solution yet?

stuggibo gravatar image stuggibo  ( 2019-03-26 06:58:36 -0600 )edit

Hello and thanks for your comment,

I have designed finally a solution by my self by using Lidar and other sensors and I developped a method to follow the target.

Mobile_robot gravatar image Mobile_robot  ( 2019-06-12 10:27:49 -0600 )edit

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Asked: 2018-01-29 04:56:45 -0600

Seen: 361 times

Last updated: Jan 30 '18