"基于ROS的移动机器人跟随系统设计与实现"

The trend of "following" is becoming increasingly popular in the world of robots and drones, allowing users to control them to follow a target. This trend opens up a new world of possibilities, such as using drones with GoPro cameras to shoot selfie videos, which not only provides entertainment but also reduces costs compared to hiring helicopters and film crews. In addition to drones, more and more land robots are also equipped with "follow the leader" functionality, such as CaddyTrek's electric golf caddie, which can replace some manual labor. Therefore, the concept of a robot that can follow you around is becoming a reality. This paper presents a following robot based on the ROS system, where the robot will move along with a selected target. The key aspect of this system is the implementation of the following algorithm, where the highly effective kernel correlation filtering algorithm is successfully integrated into ROS to achieve target tracking. The keywords of this project include mobile robots, ROS robot operating system, kernel correlation filtering, and target tracking.