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A ROS-based simulation for user-specific human-following robots. 基于 ROS 的特定用户跟随机器人仿真系统

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Target Tracking Bot

This project aims to develop a mobile robotic system with autonomous person-following and obstacle avoidance capabilities.
The system is designed to reliably identify and continuously track a designated individual in complex environments, while intelligently avoiding both static and dynamic obstacles.
Built on a modular ROS architecture, the system is easy to deploy and extend, making it suitable for applications such as service robotics, security patrol, and airport guidance.
UCL Robotics&Artificial Intelligence Year 2 Term 3 Industrial Project.

🎬 Demo

Demo

📁 Project Structure

The src/ directory contains both custom-developed packages for target following and external dependencies cloned from AntobotSDK GitHub repositories.

Antobot/
    ├── src/
    │   ├── apf_navigator/       # [Custom] APF-based local navigation module
    │   ├── ekf_tracker/         # [Custom] EKF-based target state estimation
    │   ├── vision_yolo/         # [Custom] YOLOv8 + ReID + DeepSORT visual tracking
    │   ├── AntobotSDK/          # [External] Official Antobot SDK for robot control
    │   ├── geonav_transform/    # [External] Geo-navigation transform utilities
    │   ├── ros-imu-bno055/      # [External] BNO055 IMU driver
    │   ├── zed_interfaces/      # [External] ZED camera ROS interface
    │   ├── zed-ros-wrapper/     # [External] ZED camera full ROS wrapper
    │   └── CMakeLists.txt       # CMake build configuration

✅ Custom packages: apf_navigator, ekf_tracker, vision_yolo
📦 External dependencies cloned from AntobotSDK and device vendors

🧪 Simulation

🔧 Build the workspace

Make sure you're in the root of the workspace (e.g., ~/Antobot_Sim) and build using:

catkin_make_isolated
source devel_isolated/setup.bash

🚀 Launch the simulation

In separate terminals, run the following commands in order:

# 1. Launch the robot simulation environment
roslaunch antobot_gazebo windsor_ant_v3.launch

# 2. Start the visual tracking module (YOLO + ReID + DeepSORT)
roslaunch vision_yolo Re_ID.launch

# 3. Start the EKF-based target state estimation
roslaunch ekf_tracker ekf_tracker.launch

# 4. Launch the APF-based local navigation controller
roslaunch apf_navigator apf_navigator.launch

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A ROS-based simulation for user-specific human-following robots. 基于 ROS 的特定用户跟随机器人仿真系统

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