服务移动机器人的避碰跟踪控制

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI:10.1109/ARSO.2015.7428197

T. Dewi, N. Uchiyama, S. Sano

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引用次数: 8

摘要

服务机器人的关键特征之一是能够“看到”环境和目标物体，以便顺利导航。本文研究了一种移动机器人在障碍环境中识别和跟踪附着在轮椅上的移动物体。实验分三种场景进行，第一种场景是将机器人设置为在无障碍物环境中识别和跟踪运动物体，第二种和第三种场景是l型路线和曲柄路线，以方框为障碍物。第三个场景用五个不同的人类目标进行了五次。实验结果表明，该方法对运动目标的识别和跟踪是有效的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Service mobile robot control for tracking a moving object with collision avoidance

One of the crucial features of a service robot is the ability “to see” the environment and a target object for smooth navigation. This paper deals with a mobile robot that recognizes and tracks a moving object attached to a wheelchair in a obstacle existing environment. The experiment was conducted in three scenarios, the first one is that the robot is set to recognize and track a moving object in obstacle free environment, and the second and the third ones are the L-course and the crank course bordered by boxes as the obstacles. The third scenario was conducted five times with five different human-targets. The experimental results show that the proposed method is effective in recognizing and tracking the moving object.

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2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)

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