Planning and path tracking of a mobile robot by keeping a constant distance from a guided person

Vođenje osobe do zadane lokacije predstavlja temeljnu zadaću mobilnog robota vodiča. Izvršenje ove zadaće zahtijeva planiranje i slijeđenje putanje, te prilagođavanje brzine gibanja uzimajući u obzir udaljenost od osobe koju se vodi. Pri tom treba izbjeći dinamičke prepreke koje se nađu na planiranoj putanji. Koristeći Pioneer P3-DX mobilnu platformu i 2D lasere kao percepcijske senzore implementirano je praćenje lokacije vođene osobe i primjereno korigiranje brzine zadane od strane navigacijskog algoritma. Implementacija je izvedena koristeći ROS. Snimljeni su simulacijski i eksperimentalni rezultati.Guiding a person to a given location is the primary task of a mobile guide robot. Completing this task requires planning and following a path, along with adapting the velocity according to the distance between the mobile robot and the guided person. In doing so, the robot must avoid dynamic obstacles found along the path. Using a Pioneer P3-DX mobile robot equipped with 2D laser rangefinders as perception sensors, tracking of the guided person along with appropriate correction of the velocity given by the navigation controller was implemented. ROS was the basis for the implementation. Both simulation and experimental results were recorded