ERA-04-Development of a Laser-Range-Finder-Based Human Tracking and Control Algorithm for a Marathoner Service Robot

This paper presents a human detection algorithm and an obstacle avoidance algorithm for a marathoner service robot(MSR) that provides a service to a marathoner while training. Tube used as a MSR, the mobile robot should have the abilities to follow a running human and avoid dynamically moving obstacles in an unstructured outdoor environment. To detect a human by laser range finder (LRF), we defined features of the human body inLRF data and employed a support vector data descriptionmethod.In order to avoid moving obstacles while tracking a running person, we defined a weighted radius for each obstacle using the relative velocity between the robot and an obstacle. For smoothly bypassingObstacles without collision, a dynamic obstacle avoidance algorithm for the MSR is implemented, which directly employed a real-time position vector between the robot and the shortest path around the obstacle. We verified the feasibility of these proposed algorithms through experimentation in different outdoor environments.

  • Project Category : IEEE Projects
  • Project Year : 2014-2015
  • Department
  • B.E(Electrical and Electronics Engg), B.E(Electronics and Communication), B.E(Mechtronics),
  • Domain
  • Embedded system, Robotics,
  • Technology
  • Avilable city
  • Pondicherry, Thanjavur,

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