Robot Detection System 1: Front-Following

TL;DR

This paper addresses front-following robot systems that follow a target from the front to reduce user burden and enhance safety, contrasting with back- and side-by-side following. It presents a modular design framework with separation of components, multi-part body detection, gait prediction, and ergonomics-based restrictions to predict target motion in real time, along with a dual-error metric balancing detection and prediction errors. A sensor suite including laser ranging, thermal infrared imaging, and optional ultrasonic sensors is proposed, with two scan-models (rectangular four-vertex vs center) for robust detection while preserving privacy. The work emphasizes practical deployment considerations and provides open-source results from 2018 to propagate the design approach and guide future research.

Abstract

Front-following is more technically difficult to implement than the other two human following technologies, but front-following technology is more practical and can be applied in more areas to solve more practical problems. Front-following technology has many advantages not found in back-following and side-by-side technologies. In this paper, we will discuss basic and significant principles and general design idea of this technology. Besides, various of novel and special useful methods will be presented and provided. We use enough beautiful figures to display our novel design idea. Our research result is open source in 2018, and this paper is just to expand the research result propagation granularity. Abundant magic design idea are included in this paper, more idea and analyzing can sear and see other paper naming with a start of Robot Design System with Jinwei Lin, the only author of this series papers.