Laser Range Finder Based Moving Object Tracking and Avoidance in Dynamic Environment

摘要：

The mobile robot that works in dynamic environment must have strong ability of avoiding obstacles especially moving objects and move to it original goal. To achieve the goal, the dynamic polar coordinate environment model based on laser range finder is set up, which can not only simplify the environment description but also improve the responding ability. Based on these data a moving object tracking model is also set up, which take into account the influence of moving platform, may obtain better tracking effect. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented for robot to choose according to the collision estimation. The experiment shows good moving object avoiding result.

关键词： Mobile robot Tracking Obstacle avoidance Kalman Filter

作者: Fujun He Zhijiang Du Fujun He Xiaolei Liu Yueyue Ta

作者单位: State Key Laboratory of Robotics and System,Harbin Institute of Technology Harbin,Heilongjiang Provi Department of Mechanical Science and Technology Daqing Petroleum InstituteDaqing,Heilongjiang Provin Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing,Heilongjiang Provi

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）