Get people picker value in jQuery using SPServices.

/ Get people picker value
var assigned = $().SPServices.SPFindPeoplePicker({ 
    peoplePickerDisplayName: "Assigned To",
    checkNames: true
});

OR

//Set Logged User in given people picker field ID
  function setPeoplePickerLoginName(id)
  {
   
   var PickerDiv = $('[id$="ClientPeoplePicker"][id^="' + id + '"]');
   var PickerEditor = PickerDiv.find('[title="' + id + '"]');
   var PickerInstance = SPClientPeoplePicker.SPClientPeoplePickerDict[PickerDiv[0].id];
   //You need to user SPServices library to get logged user.      

   var vUserName =$().SPServices.SPGetCurrentUser({fieldName: "Title",debug: false});
   PickerEditor.val(vUserName);
   PickerInstance.AddUnresolvedUserFromEditor(true);//V.Important line
  }
  
  
  //Return login name of given people picker.
  function getPeoplePickerLoginName(id)
  { var PickerDiv = $('[id$="ClientPeoplePicker"][id^="' + id + '"]');
   var PickerInstance = SPClientPeoplePicker.SPClientPeoplePickerDict[PickerDiv[0].id];
   if(PickerInstance)
   { return PickerInstance.GetAllUserInfo()[0].Key;// i:0#.w|domain\userName
   }
   else {return "";}
  }