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http://dx.doi.org/10.5302/J.ICROS.2013.13.1875

Moving Object Following by a Mobile Robot using a Single Curvature Trajectory and Kalman Filters  

Lim, Hyun-Seop (Department of Electrical Engineering, Pusan National University)
Lee, Dong-Hyuk (Department of Electrical Engineering, Pusan National University)
Lee, Jang-Myung (Department of Electrical Engineering, Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.7, 2013 , pp. 599-604 More about this Journal
Abstract
Path planning of mobile robots 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 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, and 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 the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.
Keywords
Kalman filter; robot trajectory; single curvature;
Citations & Related Records
Times Cited By KSCI : 11  (Citation Analysis)
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