Recovery function for human following robot losing target

Abstract

This paper presents following continuation function for human following robot losing target at corner. To realize such function, the authors propose a human trajectory model of turning the corner. Using the proposed model, the robot can predict trajectory of the target human when he/she turns the corner and disappears from the robot's view. To move on the target trajectory, the robot can rediscovery the target and continue to follow. In order to confirm effectiveness of the proposed function and the following robot using it, the authors conduct experiment. In the experiment, the robot can continue human following. Experimental result proves the effectiveness and supports our idea successfully.