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

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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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 %.

本文言語English
ホスト出版物のタイトルIntelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings
ページ562-575
ページ数14
8102 LNAI
PART 1
DOI
出版ステータスPublished - 2013
外部発表はい
イベント6th International Conference on Intelligent Robotics and Applications, ICIRA 2013 - Busan, Korea, Republic of
継続期間: 2013 9 252013 9 28

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
番号PART 1
8102 LNAI
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Other

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

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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