Development of a laser-range-finder-based human tracking and control algorithm for a marathoner service robot

Eui Jung Jung, Jae Hoon Lee, Byung Ju Yi, Jooyoung Park, Shin'ichi Yuta, Si Tae Noh

研究成果: Article査読

66 被引用数 (Scopus)

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
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
19
6
DOI
出版ステータスPublished - 2014 12

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

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