TY - GEN
T1 - Control algorithms for a mobile robot tracking a human in front
AU - Jung, Eui Jung
AU - Yi, Byung Ju
AU - Yuta, Shin'Ichi
PY - 2012/12/1
Y1 - 2012/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84872286845&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2012.6386200
DO - 10.1109/IROS.2012.6386200
M3 - Conference contribution
AN - SCOPUS:84872286845
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2411
EP - 2416
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -