Quasi-harmonic Functions Approach to Human-following Robots

In this paper, an approach for human-following robot control is investigated. The approach is based on velocity potential fields that permit to generate velocity vector commands that drive the robot at a safe distance with regard to the human while avoiding obstacles. Velocity potential fields are known for not crating local minima present in the case of artificial potential fields. The approach is first formulated and illustrated for a robot moving toward a fixed goal while avoiding two close-by obstacles without being stopped in a local minimum. For achieving a safe stop at the goal. A quasi-harmonic control law is proposed. Next, for the same environment, the approach is formulated and simulated for a robot following a human.