基于AS-P-RRT算法的人员跟随任务

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中图分类号：TP242 文献标志码：A 文章编号：2095-2945（2025）27-0001-08

Abstract：Asthebasisofhuman-computerinteraction，humanfolowingisof greatsignificanceinthefieldofmobilerobots. This paperproposesaperson folowingsystembasedontheAdaptive Step-sizeParalelRRT（AS-P-RRT）algorithmofartificial potentialfieldstorealizetheadaptivepersonfolowingfunctionofmobilerobotsincomplexenvironments.Themainpurposeof theresearchistoimprovetheresponsespeedandpathplanningeficiencyoftraditionalRRTalgorithmstopeople'smovements indynamicenvironments，whileavoidingcolisionsandensuringfollowingaccuracy.Inthispaper，adaptiveplanningstepsize andartificialpotentialfieldguidanceareintroducedintothetraditionalRTalgorithmtoimprovehespeedandaccracyofthe planingalgorithmtomeettheneedsofpeopletofolowthetask.Inthispaper，simulationandphysicalexperimentsarecaied outontheproposedalgorithm.ExperimentalresultsshowthattheAS-P-RRT"algorithmhassignificantimprovementsinplanning sped，pathsmoothnessandabilitytoavoidobstacles.ComparedtootherimprovedRRTalgorithms，itismoreefectiveto accurately follow people by the mobile robot.

Keywords：pathplanning;mobilerobot; human folowing;human-computerinteraction;rapidlyexpandingrandomtreealgorithm

近年来，人员跟随机器人在各个领域中都得到了广泛的关注-，当机器人在执行大部分人机交互任务时，人员跟随是任务能否成功完成的关键。（剩余9596字）