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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Moving Object Following by a Mobile Robot using a Single Curvature Trajectory and Kalman Filters

단일곡률궤적과 칼만필터를 이용한 이동로봇의 동적물체 추종

  • 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)
  • 임현섭 (부산대학교 전자전기공학부) ;
  • 이동혁 (부산대학교 전자전기공학부) ;
  • 이장명 (부산대학교 전자전기공학부)
  • Received : 2013.01.25
  • Accepted : 2013.03.07
  • Published : 2013.07.01
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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.

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References

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