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A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles Avoidance Capacity
 

Summary: A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles
Avoidance Capacity
Chung-Hao Chen, Chang Cheng, David Page, Andreas Koschan, and Mongi Abidi
Imaging, Robotics, and Intelligent Systems Lab, Department of Electrical and Computer
Engineering, The University of Tennessee, Knoxville, TN, 37996, USA
{cchen10, ccheng1, dpage, akoschan, and abidi}@utk.edu
Abstract
This paper describes a robotic application that
tracks a moving object by utilizing a mobile robot with
multiple sensors. The robotic platform uses a visual
camera to sense the movement of the desired object
and a range sensor to help the robot detect and then
avoid obstacles in real time while continuing to track
and follow the desired object. In terms of real-time
obstacle avoidance capacity, this paper also presents a
modified potential field algorithm called Dynamic
Goal Potential Field algorithm (DGPF) for this
robotic application specifically. Experimental results
show that the robotic and intelligent system can fulfill
the requirements of tracking an object and avoiding

  

Source: Abidi, Mongi A. - Department of Electrical and Computer Engineering, University of Tennessee

 

Collections: Computer Technologies and Information Sciences