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http://dx.doi.org/10.5302/J.ICROS.2008.14.7.635

Multiple Target Tracking and Forward Velocity Control for Collision Avoidance of Autonomous Mobile Robot  

Kim, Sun-Do (한국과학기술연구원)
Roh, Chi-Won (한국과학기술연구원)
Kang, Yeon-Sik (한국과학기술연구원)
Kang, Sung-Chul (한국과학기술연구원)
Song, Jae-Bok (고려대학교)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.7, 2008 , pp. 635-641 More about this Journal
Abstract
In this paper, we used a laser range finder (LRF) to detect both the static and dynamic obstacles for the safe navigation of a mobile robot. LRF sensor measurements containing the information of obstacle's geometry are first processed to extract the characteristic points of the obstacle in the sensor field of view. Then the dynamic states of the characteristic points are approximated using kinematic model, which are tracked by associating the measurements with Probability Data Association Filter. Finally, the collision avoidance algorithm is developed by using fuzzy decision making algorithm depending on the states of the obstacles tracked by the proposed obstacle tracking algorithm. The performance of the proposed algorithm is evaluated through experiments with the experimental mobile robot.
Keywords
mobile robot; laser sensor; multiple obstacle tracking; collision avoidance; fuzzy decision making;
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