{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,10]],"date-time":"2026-10-10T04:49:20Z","timestamp":1791607760409,"version":"4.3.4"},"reference-count":27,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2026,10,4]],"date-time":"2026-10-04T00:00:00Z","timestamp":1791072000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100007053","name":"Korea Institute of Energy Technology Evaluation and Planning","doi-asserted-by":"publisher","award":["RS-2022-KP002703"],"award-info":[{"award-number":["RS-2022-KP002703"]}],"id":[{"id":"10.13039\/501100007053","id-type":"DOI","asserted-by":"publisher"}]},{"award":["RS-2022-KP002703"],"award-info":[{"award-number":["RS-2022-KP002703"]}],"id":[{"id":"https:\/\/ror.org\/02zq38y32","id-type":"ROR","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","award":["NRF-RS-2026-25491381"],"award-info":[{"award-number":["NRF-RS-2026-25491381"]}],"id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]},{"award":["NRF-RS-2026-25491381"],"award-info":[{"award-number":["NRF-RS-2026-25491381"]}],"id":[{"id":"https:\/\/ror.org\/013aysd81","id-type":"ROR","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>An autonomous mobile robot (AMR) that follows a worker can reduce the physical burden on the worker, but stable navigation remains difficult in the narrow and cluttered spaces of a factory, where the conventional dynamic window approach (DWA) tends to prefer high linear velocities and therefore turns with a large radius. This paper proposes a worker-following navigation system with three specific elements: a unique ArUco marker whose pose, obtained by solving the perspective-n-point problem, is transformed into the map frame to define the goal point; an A* search whose evaluation function includes the costmap cost, followed by waypoint pruning and cubic B-spline refinement of the resulting path; and an improved DWA that adds a corner-aware term regulating the linear velocity according to the heading change expected over the prediction horizon. The system is implemented on an AMR equipped with a 3-D light detection and ranging (LiDAR) and a camera, and is evaluated in a demonstration factory through two scenarios of 30 trials each. The proposed algorithm completes all 60 trials without a collision, whereas Nav2 and the fast marching method (FMM)-DWA record 22 and 17 collisions, respectively. The experimental results demonstrate that path-geometry-aware velocity control improves navigation stability and reduces collision risk in complex factory environments.<\/jats:p>","DOI":"10.3390\/s26196292","type":"journal-article","created":{"date-parts":[[2026,10,5]],"date-time":"2026-10-05T10:57:46Z","timestamp":1791197866000},"page":"6292","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Development of an Autonomous Mobile Robot System Capable of Tracking Workers in a Factory Environment"],"prefix":"10.3390","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-2175-1996","authenticated-orcid":false,"given":"Hyeongmuk","family":"Kang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, University of Ulsan, Ulsan 44610, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0261-6314","authenticated-orcid":false,"given":"Giseo","family":"Park","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, University of Ulsan, Ulsan 44610, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2859-4210","authenticated-orcid":false,"given":"Sungmin","family":"Kim","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, University of Ulsan, Ulsan 44610, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,10,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"42214","DOI":"10.1109\/ACCESS.2025.3548134","article-title":"Human following and guidance by autonomous mobile robots: A comprehensive review","volume":"13","author":"Eirale","year":"2025","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Kitamoto, S., Hiroi, Y., Miyawaki, K., and Ito, A. 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