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Detection, motion planning and control of human tracking mobile robots
- Authors
- Kim, Dong-Hyung; Lee, Youngmyung; Lee, Ji-Yeong; Park, Gyung-Jin; Han, Chang-Soo; Agrawal, Sunil K.
- Issue Date
- Nov-2011
- Publisher
- IEEE
- Keywords
- Human detection; Human tracking; Mobile robot; Motion planning
- Citation
- 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp 113 - 118
- Pages
- 6
- Indexed
- SCOPUS
- Journal Title
- 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
- Start Page
- 113
- End Page
- 118
- Abstract
- In this paper, a method combining detection, motion planning and control of human tracking mobile robots is discussed. Using face recognition and detection of a pair of human legs via a stereo vision camera and 2D laser scanner, respectively, the human position is estimated. Based on the differential flatness property of the kinematic model of the mobile robot, the trajectory of the robot to the moving human is planned in real-time. The combined motion planning and control method is used for tracking a detected human. © 2011 IEEE.
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