[1]HE Chao,LIU Huaping,SUN Fuchun,et al.Target tracking and obstacle avoidance of mobile robot using Kinect[J].CAAI Transactions on Intelligent Systems,2013,8(5):426-432.[doi:10.3969/j.issn.1673-4785.201301028]
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Target tracking and obstacle avoidance of mobile robot using Kinect
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
8
Number of periods:
2013 5
Page number:
426-432
Column:
学术论文—智能系统
Public date:
2013-10-25
- Title:
- Target tracking and obstacle avoidance of mobile robot using Kinect
- CLC:
- TP242.6
- DOI:
- 10.3969/j.issn.1673-4785.201301028
- Abstract:
- In order to get a better understanding of the obstacle avoidance of a mobile robot when it is tracking a target, we used Kinect to take the place of the traditional range radar and camera. Because of the existence of a blind area and noise when using Kinect, a kind of local map updating method based on statistical theory was proposed, through the utilization of a dynamically updated local map, the information of an obstacle possibly affecting the motion of the robot was maintained, in addition, by collecting information of statics, the influence of the range noise was eliminated, so to assure the validity of the obstacle information. Simultaneously, the artificial potential field method increasing the safe area was applied to remove the information of an obstacle not disturbing the motion of the robot, so as to improve the ability of the mobile robot to pass through a narrow passage by the traditional artificial potential field method. The experiment used on a mobile robot with differential drive shows that, this system may realize target tracking and obstacle avoidance in a proper manner; the Kinect may take the place of the traditional range sensor.
- References:
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Last Update:
2013-11-28