Human tracking path planning method

asked 2018-01-29 04:56:45 -0500

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updated 2018-01-30 04:33:40 -0500

Hi,

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?

Thanks,

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

Humpelstilzchen ( 2018-01-30 10:09:35 -0500 )edit

You can start with the leg_detector package.

Mobile_robot ( 2018-02-01 03:21:47 -0500 )edit

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answered 2018-01-29 15:19:28 -0500

PeteBlackerThe3rd

flag of United Kingdom of Great Britain and Northern Ireland

9529 ●30 ●143 ●135 https://www.linkedin.c...

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 ( 2018-01-30 04:32:29 -0500 )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 ( 2018-02-02 14:10:21 -0500 )edit

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answered 2018-01-29 10:25:02 -0500

Rodolfo8

299 ●14 ●28 ●28 http://www.perfectsecurity.us/

This code has an easy and interesting method: https://github.com/HackerHouseYT/Auto...

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

Mobile_robot ( 2018-01-30 04:26:49 -0500 )edit

hey Mobile_robot, I'm looking for the same solution. In https://answers.ros.org/question/2895... 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 ( 2019-03-26 06:58:36 -0500 )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 ( 2019-06-12 10:27:49 -0500 )edit

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Human tracking path planning method

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