Object following robot using vision camera, single curvature trajectory and Kalman filters

Shin Nyeong Heo; Hyun Seop Lim; Seungik Hwang; Jangmyung Lee

doi:10.1007/978-3-642-40852-6-57

Object following robot using vision camera, single curvature trajectory and Kalman filters

Shin Nyeong Heo, Hyun Seop Lim, Seungik Hwang, Jangmyung Lee^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Path planning of mobile robot has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and they are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera; the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally the mobile robot follows the moving object using a single curvature trajectory by estimating trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and error rate have been saved about 7 %.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings
Pages	562-575
Number of pages	14
Volume	8102 LNAI
Edition	PART 1
DOIs	https://doi.org/10.1007/978-3-642-40852-6-57
Publication status	Published - 2013
Externally published	Yes
Event	6th International Conference on Intelligent Robotics and Applications, ICIRA 2013 - Busan, Korea, Republic of Duration: 2013 Sept 25 → 2013 Sept 28

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	8102 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	6th International Conference on Intelligent Robotics and Applications, ICIRA 2013
Country/Territory	Korea, Republic of
City	Busan
Period	13/9/25 → 13/9/28

Keywords

Kalman filter
Object Following
Robot trajectory
Single Curvature

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-642-40852-6-57

Cite this

Heo, S. N., Lim, H. S., Hwang, S., & Lee, J. (2013). Object following robot using vision camera, single curvature trajectory and Kalman filters. In Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings (PART 1 ed., Vol. 8102 LNAI, pp. 562-575). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8102 LNAI, No. PART 1). https://doi.org/10.1007/978-3-642-40852-6-57

Object following robot using vision camera, single curvature trajectory and Kalman filters. / Heo, Shin Nyeong; Lim, Hyun Seop; Hwang, Seungik et al.

Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings. Vol. 8102 LNAI PART 1. ed. 2013. p. 562-575 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8102 LNAI, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Heo, SN, Lim, HS, Hwang, S & Lee, J 2013, Object following robot using vision camera, single curvature trajectory and Kalman filters. in Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings. PART 1 edn, vol. 8102 LNAI, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 8102 LNAI, pp. 562-575, 6th International Conference on Intelligent Robotics and Applications, ICIRA 2013, Busan, Korea, Republic of, 13/9/25. https://doi.org/10.1007/978-3-642-40852-6-57

Heo SN, Lim HS, Hwang S, Lee J. Object following robot using vision camera, single curvature trajectory and Kalman filters. In Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings. PART 1 ed. Vol. 8102 LNAI. 2013. p. 562-575. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-642-40852-6-57

Heo, Shin Nyeong ; Lim, Hyun Seop ; Hwang, Seungik et al. / Object following robot using vision camera, single curvature trajectory and Kalman filters. Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings. Vol. 8102 LNAI PART 1. ed. 2013. pp. 562-575 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

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AB - Path planning of mobile robot has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and they are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera; the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally the mobile robot follows the moving object using a single curvature trajectory by estimating trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and error rate have been saved about 7 %.

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Object following robot using vision camera, single curvature trajectory and Kalman filters

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