Development of a Laser-Range-Finder-Based Human Tracking and Control Algorithm for a Marathoner Service Robot
- Title
- Development of a Laser-Range-Finder-Based Human Tracking and Control Algorithm for a Marathoner Service Robot
- Author
- 이병주
- Keywords
- Human detection; machine learning; mobile robot; obstacle avoidance
- Issue Date
- 2014-12
- Publisher
- Institute of Electrical and Electronics Engineers
- Citation
- IEEE/ASME Transactions on Mechatronics, v. 19, NO. 6, Page. 1963-1976
- Abstract
- 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.
- URI
- https://ieeexplore.ieee.org/document/6690173https://repository.hanyang.ac.kr/handle/20.500.11754/181021
- ISSN
- 1083-4435;1941-014X
- DOI
- 10.1109/TMECH.2013.2294180
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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