Development of a Laser-Range-Finder-Based Human Tracking and Control Algorithm for a Marathoner Service Robot
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jung, Eui-Jung | - |
dc.contributor.author | Lee, Jae Hoon | - |
dc.contributor.author | Yi, Byung-Ju | - |
dc.contributor.author | Park, Jooyoung | - |
dc.contributor.author | Yuta, Shin'ichi | - |
dc.contributor.author | Noh, Si-Tae | - |
dc.date.accessioned | 2021-09-05T02:36:45Z | - |
dc.date.available | 2021-09-05T02:36:45Z | - |
dc.date.created | 2021-06-15 | - |
dc.date.issued | 2014-12 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/96674 | - |
dc.description.abstract | 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. To be 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 a laser range finder (LRF), we defined features of the human body in LRF data and employed a support vector data description method. 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 bypassing obstacles 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. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | PEOPLE TRACKING | - |
dc.subject | MOBILE | - |
dc.subject | SYSTEM | - |
dc.title | Development of a Laser-Range-Finder-Based Human Tracking and Control Algorithm for a Marathoner Service Robot | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jooyoung | - |
dc.identifier.doi | 10.1109/TMECH.2013.2294180 | - |
dc.identifier.scopusid | 2-s2.0-84903316167 | - |
dc.identifier.wosid | 000338108300023 | - |
dc.identifier.bibliographicCitation | IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.19, no.6, pp.1963 - 1976 | - |
dc.relation.isPartOf | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.citation.title | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.citation.volume | 19 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 1963 | - |
dc.citation.endPage | 1976 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | PEOPLE TRACKING | - |
dc.subject.keywordPlus | MOBILE | - |
dc.subject.keywordPlus | SYSTEM | - |
dc.subject.keywordAuthor | Human detection | - |
dc.subject.keywordAuthor | machine learning | - |
dc.subject.keywordAuthor | mobile robot | - |
dc.subject.keywordAuthor | obstacle avoidance | - |
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