Publication

Hanyang University HumanRobotics Lab

International Journal
Development of a laser-range-finder-based human tracking and control algorithm for a marathoner service robot
Journal
IEEE/ASME transactions on mechatronics
Vol
Vol. 19, No. 6
Page
pp. 1963-1976
Author
E.-J. Jung, J. H. Lee, B.-J. Yi, J. Park, and S.-T. Noh
Year
2013
Date
2013. 12. 20
File
Development of a laser-range-finder-based human tracking and control algorithm for a marathoner service robot.pdf (1.7M) 1회 다운로드 DATE : 2020-10-18 16:52:00
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.