抄録
This paper presents a human detection algorithm and an obstacle avoidance algorithm for a marathoner service robot (MSR) that provides a service to a marathoner while training. To be used as a MSR, the mobile robot should have the abilities to follow a running human and avoid dynamically moving obstacles in an unstructured outdoor environment. To detect a human by a laser range finder (LRF), we defined features of the human body in LRF data and employed a support vector data description method. In order to avoid moving obstacles while tracking a running person, we defined a weighted radius for each obstacle using the relative velocity between the robot and an obstacle. For smoothly bypassing obstacles without collision, a dynamic obstacle avoidance algorithm for the MSR is implemented, which directly employed a real-time position vector between the robot and the shortest path around the obstacle. We verified the feasibility of these proposed algorithms through experimentation in different outdoor environments.
本文言語 | English |
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論文番号 | 6690173 |
ページ(範囲) | 1963-1975 |
ページ数 | 13 |
ジャーナル | IEEE/ASME Transactions on Mechatronics |
巻 | 19 |
号 | 6 |
DOI | |
出版ステータス | Published - 2014 12月 |
ASJC Scopus subject areas
- 制御およびシステム工学
- コンピュータ サイエンスの応用
- 電子工学および電気工学