科技创新与应用2025，Vol.15Issue(26)：11-14,4.DOI:10.19981/j.CN23-1581/G3.2025.26.003
基于AWJPS-LOS算法的人员跟随路径规划
摘要
Abstract
To achieve real-time personnel following tasks in environments without prior maps,this paper proposes an autonomous following system based on multi-sensor fusion.For the robot's front-end path planning,a path planning algorithm combining the improved Jump Point Search(JPS)algorithm and the Line of Sight(LOS)algorithm is proposed.This algorithm significantly improves search efficiency by eliminating redundant nodes on the path.To address the robot's obstacle avoidance and path smoothing issues,a back-end trajectory optimization method is proposed.This method constructs a safety corridor and applies Bezier curves to generate smooth trajectories.The proposed algorithms were tested on a physical platform for indoor corridor following experiments,and the results demonstrate that the path planning method does not rely on a global map and can effectively handle situations such as multiple pedestrian interferences and target loss.关键词
人员跟随/路径规划/避障/跳点搜索/轨迹优化Key words
person following/path planning/obstacle avoidance/jump point search/trajectory optimization分类
信息技术与安全科学引用本文复制引用
张原,吴炜..基于AWJPS-LOS算法的人员跟随路径规划[J].科技创新与应用,2025,15(26):11-14,4.基金项目
国家自然科学基金项目(61807016) （61807016）
