Marathoner tracking algorithms for a high speed mobile robot

Eui Jung Jung, Jae Hoon Lee, Byung Ju Yi, Il Hong Suh, Shinichi Yuta, Si Tae Noh

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

11 Citations (Scopus)

Abstract

This paper presents tracking algorithms of a mobile robot that follows a human body moving at high speed in unstructured outdoor environment. The mobile robot, which is a differential-driven wheel type, is equipped with one laser range finder to perform high-speed human tracking and obstacle avoidance. Initially, the waist part of the human body is found the best part of the human body for robust tracking by a laser range finder. Next an obstacle avoidance algorithm considering the relative velocity between the robot and obstacles is proposed. It is shown that the proposed human tracking algorithms based on the Kalman filter performs well even in the case of the target occlusions and temporary losses. These tracking algorithms have been applied to a marathoner following robot that carries the marathoner's personal belongings in many different outdoor environments.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages3595-3600
Number of pages6
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA
Duration: 2011 Sep 252011 Sep 30

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CitySan Francisco, CA
Period11/9/2511/9/30

Fingerprint

Mobile robots
Range finders
Collision avoidance
Robots
Lasers
Kalman filters
Wheels

ASJC Scopus subject areas

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

Cite this

Jung, E. J., Lee, J. H., Yi, B. J., Suh, I. H., Yuta, S., & Noh, S. T. (2011). Marathoner tracking algorithms for a high speed mobile robot. In IEEE International Conference on Intelligent Robots and Systems (pp. 3595-3600). [6048379] https://doi.org/10.1109/IROS.2011.6048379

Marathoner tracking algorithms for a high speed mobile robot. / Jung, Eui Jung; Lee, Jae Hoon; Yi, Byung Ju; Suh, Il Hong; Yuta, Shinichi; Noh, Si Tae.

IEEE International Conference on Intelligent Robots and Systems. 2011. p. 3595-3600 6048379.

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

Jung, EJ, Lee, JH, Yi, BJ, Suh, IH, Yuta, S & Noh, ST 2011, Marathoner tracking algorithms for a high speed mobile robot. in IEEE International Conference on Intelligent Robots and Systems., 6048379, pp. 3595-3600, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, 11/9/25. https://doi.org/10.1109/IROS.2011.6048379
Jung EJ, Lee JH, Yi BJ, Suh IH, Yuta S, Noh ST. Marathoner tracking algorithms for a high speed mobile robot. In IEEE International Conference on Intelligent Robots and Systems. 2011. p. 3595-3600. 6048379 https://doi.org/10.1109/IROS.2011.6048379
Jung, Eui Jung ; Lee, Jae Hoon ; Yi, Byung Ju ; Suh, Il Hong ; Yuta, Shinichi ; Noh, Si Tae. / Marathoner tracking algorithms for a high speed mobile robot. IEEE International Conference on Intelligent Robots and Systems. 2011. pp. 3595-3600
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