Marathoner tracking algorithms for a high speed mobile robot

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

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

13 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 publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages3595-3600
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 29
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

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

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., 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 IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 3595-3600). [6048379] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048379