Control algorithms for a mobile robot tracking a human in front

Eui Jung Jung, Byung Ju Yi, Shinichi Yuta

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

13 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 publicationIEEE International Conference on Intelligent Robots and Systems
Pages2411-2416
Number of pages6
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve
Duration: 2012 Oct 72012 Oct 12

Other

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

Fingerprint

Mobile robots
Range finders
Robots
Lasers
Wheels

ASJC Scopus subject areas

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

Cite this

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

Control algorithms for a mobile robot tracking a human in front. / Jung, Eui Jung; Yi, Byung Ju; Yuta, Shinichi.

IEEE International Conference on Intelligent Robots and Systems. 2012. p. 2411-2416 6386200.

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

Jung, EJ, Yi, BJ & Yuta, S 2012, Control algorithms for a mobile robot tracking a human in front. in IEEE International Conference on Intelligent Robots and Systems., 6386200, pp. 2411-2416, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, 12/10/7. https://doi.org/10.1109/IROS.2012.6386200
Jung EJ, Yi BJ, Yuta S. Control algorithms for a mobile robot tracking a human in front. In IEEE International Conference on Intelligent Robots and Systems. 2012. p. 2411-2416. 6386200 https://doi.org/10.1109/IROS.2012.6386200
Jung, Eui Jung ; Yi, Byung Ju ; Yuta, Shinichi. / Control algorithms for a mobile robot tracking a human in front. IEEE International Conference on Intelligent Robots and Systems. 2012. pp. 2411-2416
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