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

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6 Author(s)
Eui-Jung Jung ; Dept. of Electron. Electr., Control & Instrum. Eng., Hanyang Univ., Ansan, South Korea ; Jae Hoon Lee ; Byung-Ju Yi ; Jooyoung Park
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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.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:19 ,  Issue: 6 )