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

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationIntelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings
Pages562-575
Number of pages14
Volume8102 LNAI
EditionPART 1
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event6th International Conference on Intelligent Robotics and Applications, ICIRA 2013 - Busan, Korea, Republic of
Duration: 2013 Sep 252013 Sep 28

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume8102 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other6th International Conference on Intelligent Robotics and Applications, ICIRA 2013
CountryKorea, Republic of
CityBusan
Period13/9/2513/9/28

Keywords

  • Kalman filter
  • Object Following
  • Robot trajectory
  • Single Curvature

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Fingerprint Dive into the research topics of 'Object following robot using vision camera, single curvature trajectory and Kalman filters'. Together they form a unique fingerprint.

  • 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