Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Tracking of a Moving Target Using the Accumulated Ultrasonic Image

초음차 응답 누적영상을 이용한 이동물체 추적

  • Han, Moon-Yong (Dept.of Information Communication Electronics Engineering, Soongsil University) ;
  • Hahn, Hern-Soo (Dept.of Information Communication Electronics Engineering, Soongsil University)
  • 한문용 (숭실대학교 정보통신전자공학부) ;
  • 한헌수 (숭실대학교 정보통신전자공학부)
  • Published : 2000.02.01
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Abstract

To follow a moving target keeping a certain distance it is essential for a mobile robot to detect the target first and to measure its pose and velocity. This paper proposes a new solution for this problem using the accumulated ultrasonic image which is constructed by accumulating the returned ultrasonic signal along the time axis for a certain number of measurement periods. A moving target is separated by selecting the trajectory whose inclination is different from others in the imag since the inclination of a trajectory represents the relative speed of the target against the mobile robot. The proposed algorithm was implemented on a mobile robot and has shown that the robot follows a moving target successfully.

Keywords

References

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