{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T09:52:57Z","timestamp":1762509177456,"version":"3.41.2"},"reference-count":38,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2024,7,2]],"date-time":"2024-07-02T00:00:00Z","timestamp":1719878400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2024,12,2]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The human-following task is a fundamental function in human\u2013robot collaboration. It requires a robot to recognize and locate a target person, plan a path and avoid obstacles. To enhance the applicability of the human-following task in various scenarios, it should not rely on a prior map. This paper aims to introduce a human-following method that meets these requirements.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>For the identification and localization of the target person (ILTP), this paper proposes an approach that integrates data from a camera, a light detection and ranging (LiDAR) and a ultra-wideband (UWB) anchor. For path planning and obstacle avoidance, a modified timed-elastic-bands (TEB) algorithm is introduced.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Compared to the UWB-only method, where only UWB is used to locate the target person, the proposed ILTP method in this paper reduces the localization error by 41.82%. Experimental results demonstrate the effectiveness of the ILTP and the modified TEB method under various challenging conditions. Such as crowded environments, multiple obstacles, the target person being occluded and the target person moving out of the robot\u2019s field of view. The complete experimental videos are available for viewing on https:\/\/youtu.be\/ZKbrNE1sePM.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper offers a novel solution for human-following tasks. The proposed ILTP method can recognize the target person among multiple individuals, determine whether the target person is lost and publish the target person\u2019s position at a frequency of 20\u2009Hz. The modified TEB algorithm does not rely on a prior map. It can plan paths and avoid obstacles effectively.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-12-2023-0319","type":"journal-article","created":{"date-parts":[[2024,7,1]],"date-time":"2024-07-01T07:42:08Z","timestamp":1719819728000},"page":"960-972","source":"Crossref","is-referenced-by-count":2,"title":["Human-following task without a prior map"],"prefix":"10.1108","volume":"51","author":[{"given":"Zhiqiang","family":"Zhou","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yong","family":"Fu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Wu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2024,7,2]]},"reference":[{"key":"key2024112907362018000_ref001","first-page":"3068","article-title":"Human tracking and following in dynamic environment for service 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