Target following in dynamic pedestrian environments is an important task for mobile robots. However, it is challenging to keep tracking the target while avoiding collisions in crowded environments, especially with only one robot. In this paper, we propose a multi-agent method for an arbitrary number of robots to follow the target in a socially-aware manner using only 2D laser scans. The multi-agent following problem is tackled by utilizing the complementary strengths of both reinforcement learning and potential field, in which the reinforcement learning part handles local interactions while navigating to the goals assigned by the potential field. Specifically, with the help of laser scans in obstacle map representation, the learning-based policy can help the robots avoid collisions with both static obstacles and dynamic obstacles like pedestrians in advance, namely socially aware. While the formation control and goal assignment for each robot is obtained from a target-centered potential field constructed using aggregated state information from all the following robots. Experiments are conducted in multiple settings, including random obstacle distributions and different numbers of robots. Results show that our method works successfully in unseen dynamic environments. The robots can follow the target in a socially compliant manner with only 2D laser scans.
Download