Simulation Of A Human Following Robot With Object Avoidance Function

Abstract

This study aims to propose an object avoidance algorithm for use in a human-following robot. The algorithm is tested in a well-known robot simulator called virtual robot experiment platform (V-REP), which includes built-in models for realistic sensors and robot platforms. This paper describes a basic path-planning algorithm for following a human target and then describes algorithms for obstacle avoidance and target reacquisition. Simulations are run for each situation that the human-following robot could encounter. Simulation results show that the algorithm is ready to be implemented in a physical robot prototype.