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Development of a Laser-Range-Finder-Based Human Tracking and Control Algorithm for a Marathoner Service Robot | IEEE Journals & Magazine | IEEE Xplore

Development of a Laser-Range-Finder-Based Human Tracking and Control Algorithm for a Marathoner Service Robot


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 tra...Show More

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.
Published in: IEEE/ASME Transactions on Mechatronics ( Volume: 19, Issue: 6, December 2014)
Page(s): 1963 - 1976
Date of Publication: 20 December 2013

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