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http://dx.doi.org/10.5391/JKIIS.2013.23.5.460

Tracking Path Generation of Mobile Robot for Interrupting Human Behavior  

Jin, Taeseok (Dept. of Mechatronics Engineering, Dongseo University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.23, no.5, 2013 , pp. 460-465 More about this Journal
Abstract
In this paper, we describe a security robot system to control human's behavior in the security area. In order to achieve these goals, we present a method for representing, tracking and human blocking by laserscanner systems in security area, with application to pedestrian tracking in a crowd. When it detects walking human who is for the security area, robot calculates his velocity vector, plans own path to forestall and interrupts him who want to head restricted area and starts to move along the estimated trajectory. While moving the robot continues these processes for adapting change of situation. After arriving at an opposite position human's walking direction, the robot advises him not to be headed more and change his course. The experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.
Keywords
Mobile robot; Recognition; Human-Tracking; Laserscanner; Estimation;
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