[1]贺超,刘华平,孙富春,等.采用Kinect的移动机器人目标跟踪与避障[J].智能系统学报,2013,8(05):426-432.[doi:10.3969/j.issn.1673-4785.201301028]
　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(05):426-432.[doi:10.3969/j.issn.1673-4785.201301028]
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采用Kinect的移动机器人目标跟踪与避障(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第8卷
期数:
2013年05期
页码:
426-432
栏目:
出版日期:
2013-10-25

文章信息/Info

Title:
Target tracking and obstacle avoidance of mobile robot using Kinect
文章编号:
1673-4785(2013)05-0426-07
作者:
贺超1; 2; 刘华平2; 孙富春2; 夏路易1; 韩峥2
1.太原理工大学 信息工程学院，山西 太原 030024； 2.清华大学 智能技术与系统国家重点实验室，北京 100084
Author(s):
HE Chao1; 2;  LIU Huaping2;  SUN Fuchun2;  XIA Luyi1;  HAN Zheng2
1.College of Information Engineering, Taiyuan University of Technology, Taiyuan 030024, China; 2. State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China
关键词:
移动机器人; Kinect; 人工势场; 避障; 目标跟踪
Keywords:
mobile robot;  Kinect;  artificial potential field;  obstacle avoidance;  target tracking
分类号:
TP242.6
DOI:
10.3969/j.issn.1673-4785.201301028
文献标志码:
A
摘要:
为实现移动机器人在目标跟踪的同时进行避障，采用Kinect代替传统的测距雷达和摄像机.针对Kinect在使用中存在盲区和噪声的问题，提出一种基于统计的局部地图更新方法，利用动态更新的局部地图保存可能影响机器人运动的障碍物信息，并通过统计信息来消除测距噪声的影响，确保障碍物信息的有效性.同时使用增加安全区域的人工势场法去除对移动机器人运动无干扰的障碍物信息，改善了传统人工势场法通过狭窄通道的能力.在差动驱动移动机器人的实验证实了此系统能够很好地完成跟踪与避障任务，结果表明，使用Kinect可以代替传统测距传感器.
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.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期：2013-01-21.     网络出版日期：2013-09-29. 
基金项目：国家自然科学基金资助项目（61075027）. 
通信作者：贺超. E-mail: tianhechao@sina.com.
作者简介：贺超，男，1987年生，硕士研究生，主要研究方向为移动机器人、嵌入式系统.
刘华平，男，1976年生，副教授，主要研究方向为智能控制与机器人、视频跟踪与检测、智能交通等.
孙富春，男，1964年生，教授，博士生导师，IEEE高级会员，中国人工智能学会理事、智能控制与智能管理专业委员会副主任兼秘书长.主要研究方向为智能控制、机器人与飞行器的导航与控制、网络控制系统、人工认知系统的信息感知和处理等.曾获全国优秀博士论文奖、教育部新世纪人才奖、国家杰出青年基金、北京市科学技术进步二等奖.发表学术论文120余篇，其中被SCI检索52篇.
更新日期/Last Update: 2013-11-28