Control algorithms for a mobile robot tracking a human in front

Eui Jung Jung, Byung Ju Yi, Shin'Ichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

This paper presents tracking algorithms of a mobile robot that tracks a human in front. The mobile robot, which is a differential-driven wheel type, is equipped with a laser range finder to perform human tracking in front. Initially, we recommend the torso part for the robust tracking of the human body in outdoor environment by a laser range finder. To track a human in front, we define a virtual target determined by the velocity of the target human. For a more efficient movement of the mobile robot, a desired heading direction of the robot considering motion vectors of the robot and the human is proposed.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages2411-2416
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Jung, E. J., Yi, B. J., & Yuta, SI. (2012). Control algorithms for a mobile robot tracking a human in front. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 2411-2416). [6386200] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386200