Active Pedestrian Tracking and Following using Heuristic Search Approach to Maximize Information Acquisition with Laser Mounted Mobile Robot in Dynamic Environment
Date Issued
2011
Date
2011
Author(s)
Chen, Chin-Lung
Abstract
In recent years, people tracking and following has become an increasingly popular research topic. More and more applications have focused on improving robots’ ability to interact with humans. By providing the robot the capability of following a target pedestrian in an appropriate manner, the robot can assist people in various ways under different environments. One of the main difficulties when performing people tracking and following is the occlusion problem caused by static and dynamic obstacles. In this thesis, the aim is to solve the occlusion problem by planning a robot trajectory which can maximize target visibility when following a moving target. Initially, a laser range finder is used to detect the human target and then track the target using Kalman Filter. Afterward, a pedestrian following algorithm is based on a look-ahead algorithm, DWA*, is implemented to pursue the target while avoiding any static or dynamic obstacles. In this thesis, two target following methods are proposed and compared. The first method is an intuitive approach, it sets a pseudo goal further away than the actual target location and use obstacle avoidance algorithm to reach the pseudo goal. The second method uses heuristic search to find the most optimal path: a trajectory that not only has the shortest distance to reach the goal but also able to maintain the maximum target visibility.
The experiments were performed to evaluate robot maneuvers using different methods when following a target. The results compare and evaluate each following algorithm. Furthermore, the experiments were also performed in more complex environments such as cafeteria and office. The robot has proven that it is still capable of following the target when noises and other dynamic objects are present.
Subjects
Human following
DWA*
path planning
DATMO
Type
thesis
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