基於深度學習的機器人在前跟人行為並應用於自動載具

侯力瑋

山西大学，您好！

感谢采购，人社期刊库｜人社论文库，期间：2025/01/01~2025/12/31

感谢试用，科学期刊库｜科学论文库，期间：2025/01/21~2025/03/31

浏览高级检索

关闭
检索检索高级检索出版物检索
浏览期刊主题浏览核心期刊浏览期刊拼音浏览

关闭

查询符号(半角)	查询符号意义说明
空格	表示为「AND」两个查询词之交集
双引号 ( " " )	片语以双引号标示开始及结束，而且只寻找出现顺序相同的字词，例： " image process "
?	表示一个字母切截，输入两个?表两个字母，依此类推，例：输入「Appl?」，查得结果应为appl e , appl y … ( 常用于英文字查询 )
*	表示不限字母切截，由0~n. 例：输入「appl*」，查得结果应为appl e , appl es , appl y , appl ied , appl ication … ( 常用于英文字查询 )
AND、OR、NOT	布尔逻辑组合关键字，用来扩大或缩小查询范围的技巧。 (1) AND ：缩小查询范围 (2) OR ：扩大查询范围(3) NOT：排除不相关的范围

DOI 是数位物件识别码（ D igital O bject I dentifier ）的简称，
为物件在网路上的唯一识别码，可用于永久连结并引用目标物件。

使用DOI作为永久连结

每个DOI号前面加上「 http://dx.doi.org/ 」便成为永久网址。
如以DOI号为 10.5297/ser.1201.002 的文献为例，此文献的永久连结便是： http://dx.doi.org/ 10.5297/ser.1201.002 。
日后不论出版单位如何更动此文献位置，永久连结所指向的位置皆会即时更新，不再错失重要的研究。

引用含有DOI的文献

有DOI的文献在引用时皆应同时引用DOI。若使用APA、Chicago以外未规范DOI的引用格式，可引用DOI永久连结。

DOI可强化引用精确性、增强学术圈连结，并给予使用者跨平台的良好使用经验，目前在全世界已有超过五千万个对象申请DOI。如想对DOI的使用与概念有进一步了解，请参考（）。

书目管理工具

相关连结

问题回报

全文下载

基於深度学习的机器人在前跟人行为并应用於自动载具

Deep Learning Based Human Front Following and Its Application to Autonomous Vehicle

侯力玮 , 硕士　　导师：吴炳飞　　

繁体中文

深度学习；机器人在前跟人行为；人体朝向角；模糊Q-learning ； Deep Learning ； Human Front Following ； Human Orientation ； Fuzzy Q-learning

0 个人觉得这篇文章赞

摘要 │ 参考文献 (36) │ 国际计量

摘要〈TOP〉

并列摘要〈TOP〉

In future society, affective interactions and cooperation between humans and robots become extremely important. Because of the large amount of labor saved by the robotic automation, caregivers and nurses can focus on those they are really care about. This paper proposes a novel strategy for automatic human-following control: Front-Following, which means robots execute human following in front of accompanist, rarely described in the literature. The Front-Following process is divided into two parts. First part: Human Orientation Detection. The human body orientation angle is obtained through cameras and Deep Learning methods. Thus, the Deep Learning model is trained by the features of human body orientation captured from cameras. This Deep learning model will then be used in human orientation classification. The exact human orientation is estimated from human body coordinate and classification results. Second part: Fuzzy Q-learning Logic Control. To let robots tune their route immediately by use of environment information, we add Q-learning into the inputs of Fuzzy Logic Control. In addition, robots could detect orientation and relative position about accompanists spontaneously. In order words, what accompanists only to do is spinning their bodies. No additional displacement is required as accompanists instruct robots to perform a turn. Otherwise, combining with the LRF information from the environment, robots could execute front following and obstacle avoidance simultaneously without collision.

参考文献 ( 36 ) 〈TOP〉

[1] E. J. Jung, J. H. Lee, B. J. Yi, J. Park, S. i. Yuta, and S. T. Noh, “Development of a laser-range-finder-based human tracking and control algorithm for a marathoner service robot.” IEEE/ASME transactions on mechatronics, vol. 19, no. 6, pp. 1963-1976, 2014.
连结：
[3] R. W. Deng, Y. H Wang, C. J. Lin, and T. H. Li, “Implementation of human following mission by using fuzzy head motion control and Q-learning wheel motion control for home service robot.” Proc. of International Conference on Fuzzy Theory and Its Applications, Taipei, Taiwan, pp. 55-60, 2013.
连结：
[4] E. J. Jung, and B. J. Yi, "Control algorithms for a mobile robot tracking a human in front." 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2012.
连结：
[6] Cifuentes, C. A., Frizera, A., Carelli, R., and Bastos, T. "Human–robot interaction based on wearable IMU sensor and laser range finder." Robotics and Autonomous Systems, 62.10, pp. 1425-1439, 2014.
连结：
[7] J. S. Hu, J. J. Wang, and D. M. Ho, "Design of sensing system and anticipative behavior for human following of mobile robots." Industrial Electronics, IEEE Transactions on 61.4, pp. 1916-1927, 2014.
连结：

国际计量

〈TOP〉

E-mail ：

文章公开取用时，将寄通知信至您填写的信箱地址

E-mail ：

使用DOI作为永久连结

引用含有DOI的文献

DOI可强化引用精确性、增强学术圈连结，并给予使用者跨平台的良好使用经验，目前在全世界已有超过五千万个对象申请DOI。 如想对DOI的使用与概念有进一步了解，请参考 （ ） 。

DOI可强化引用精确性、增强学术圈连结，并给予使用者跨平台的良好使用经验，目前在全世界已有超过五千万个对象申请DOI。如想对DOI的使用与概念有进一步了解，请参考（）。