Multiple target tracking and forward velocity control for collision avoidance of autonomous mobile robot

Sun do Kim, Chi Won Roh, Yeonsik Kang, Sung chul Kang, Jaebok Song

Research output: Contribution to journalArticle

Abstract

In this paper, we used a laser range finder (LRF) to detect both the static and dynamic obstacles for the safe navigation of a mobile robot. LRF sensor measurements containing the information of obstacle's geometry are first processed to extract the characteristic points of the obstacle in the sensor field of view. Then the dynamic states of the characteristic points are approximated using kinematic model, which are tracked by associating the measurements with Probability Data Association Filter. Finally, the collision avoidance algorithm is developed by using fuzzy decision making algorithm depending on the states of the obstacles tracked by the proposed obstacle tracking algorithm. The performance of the proposed algorithm is evaluated through experiments with the experimental mobile robot.

Original languageEnglish
Pages (from-to)635-641
Number of pages7
JournalJournal of Institute of Control, Robotics and Systems
Volume14
Issue number7
DOIs
Publication statusPublished - 2008 Jul

Keywords

  • Collision avoidance
  • Fuzzy decision making
  • Laser sensor
  • Mobile robot
  • Multiple obstacle tracking

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Applied Mathematics

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