Publication

Hanyang University HumanRobotics Lab

International Conference
Control algorithms for a Mobile Robot Tracking a Human in front
Conference
International Conference on Intelligent Robots and Systems
Author
E.-J. Jung, B.-J. Yi and S. Yuta
Year
2012
Date
2012.10.07
File
Control algorithms for a Mobile Robot Tracking a Human in front.pdf (783.7K) 0회 다운로드 DATE : 2020-10-19 23:06:54
Abstract: 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.