科技创新与应用2025，Vol.15Issue(27)：1-8,8.DOI:10.19981/j.CN23-1581/G3.2025.27.001
基于AS-P-RRT*算法的人员跟随任务
摘要
Abstract
As the basis of human-computer interaction,human following is of great significance in the field of mobile robots.This paper proposes a person following system based on the Adaptive Step-size Parallel RRT(AS-P-RRT*)algorithm of artificial potential fields to realize the adaptive person following function of mobile robots in complex environments.The main purpose of the research is to improve the response speed and path planning efficiency of traditional RRT algorithms to people's movements in dynamic environments,while avoiding collisions and ensuring following accuracy.In this paper,adaptive planning step size and artificial potential field guidance are introduced into the traditional RRT* algorithm to improve the speed and accuracy of the planning algorithm to meet the needs of people to follow the task.In this paper,simulation and physical experiments are carried out on the proposed algorithm.Experimental results show that the AS-P-RRT* algorithm has significant improvements in planning speed,path smoothness and ability to avoid obstacles.Compared to other improved RRT algorithms,it is more effective to accurately follow people by the mobile robot.关键词
路径规划/移动机器人/人员跟随/人机交互/快速扩展随机树算法Key words
path planning/mobile robot/human following/human-computer interaction/rapidly expanding random tree algorithm分类
信息技术与安全科学引用本文复制引用
林骏杰,吴炜..基于AS-P-RRT*算法的人员跟随任务[J].科技创新与应用,2025,15(27):1-8,8.基金项目
国家自然科学基金项目(61807016) （61807016）
