Mobile robot system architecture for people tracking and following applications

We present the design and implementation of a multi-input and multi-controller system architecture for mobile robots. The proposed system architecture is divided into interchangeable modular subsystems with common interfaces. The paper details the development of a prototype to test the proposed architecture and the implementation of the architecture with the Robot Operating System. Results from indoor and outdoor experiments are discussed. The prototype is used to demonstrate person following for route teach-and-repeat applications with collision avoidance and controller override.