Person-following by autonomous robots: A categorical overview
Person-following by autonomous robots: A categorical overview
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DOI：
10.1177/0278364919881683
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发表时间：
2019-10-23
影响因子：
9.2
通讯作者：
Sattar, Junaed
中科院分区：
文献类型：
--
作者：
Islam, Md Jahidul;Hong, Jungseok;Sattar, Junaed
在制造业、医疗保健、娱乐行业和社会互动等不同领域，广泛的人机协作应用需要自主机器人跟随其人类同伴。不同的工作环境和应用对传感器的选择、自主程度和人跟随机器人的动力学特性提出了不同的挑战。研究人员以多种方式解决了这些挑战，并为大量文献的发展做出了贡献。本文通过对自主机器人的人跟随的不同方面进行分类，提供了文献的全面概述。此外，根据地面、水下和空中场景的各种设计选择，确定了相应的操作挑战。此外，还详细讨论了最新的感知、规划、控制和交互方法，并介绍了它们在各种操作场景中的适用性。然后对一些比较突出的方法进行了定性比较，说明了相应的实用性，并针对各种用例分析了它们的可行性。此外，还指出了几个潜在的应用领域，并指出了未来研究的开放性问题。
A wide range of human-robot collaborative applications in diverse domains, such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working environments and applications pose diverse challenges by adding constraints on the choice of sensors, degree of autonomy, and dynamics of a person-following robot. Researchers have addressed these challenges in many ways and contributed to the development of a large body of literature. This paper provides a comprehensive overview of the literature by categorizing different aspects of person-following by autonomous robots. Also, the corresponding operational challenges are identified based on various design choices for ground, underwater, and aerial scenarios. In addition, state-of-the-art methods for perception, planning, control, and interaction are elaborately discussed and their applicability in varied operational scenarios is presented. Then some of the prominent methods are qualitatively compared, corresponding practicalities are illustrated, and their feasibility is analyzed for various use cases. Furthermore, several prospective application areas are identified, and open problems are highlighted for future research.