DETECTION AND TRACKING OF MOVING OBJECT WITH A MOBILE ROBOT USING LASER SCANNER

摘要：

An autonomous approach for detection and tracking of moving object with a mobile robot using laser scanner is presented in this paper. Firstly, ranging data of environmental objects from laser scanner are clustered according to the dynamic clustering method of k-nearest neighbors. Then, the movement parameter of clustering objects is computed by local grid map matching. At the same time, the movement compensation of mobile robot is estimated. After obtaining the moving object, particle filter (PF) with the improved proposal distribution is adopted to track moving object so as to get the movement condition of the object. At last, experiments with the mobile robot designed by us are implemented and the validity of this approach is verified.

关键词： Detection and tracking of moving object Laser scanner Mobile robot Grid map matching Particle filter with the improved proposal distribution

作者: JIN-XIA YU ZI-XING CAI ZHUO-HUA DUAN

作者单位: College of Computer Science & Technology, Henan Polytechnic University, Jiaozuo, 454003, China College of Information Science & Engineering, Central South University, Changsha, 410083, China Department of Computer, Shaoguan University, Shaoguan, 512003, China

会议类型: 国际会议

会议名称: 2008 International Conference on Machine Learning and Cybernetics(2008机器学习与控制论国际会议)

会议地点: 昆明

会议语种:英文

页码: 1947-1952

在线出版日期: 2008-07-12（万方平台首次上网日期，不代表论文的发表时间）