Marathoner tracking algorithms for a high speed mobile robot

@article{Jung2011MarathonerTA,
  title={Marathoner tracking algorithms for a high speed mobile robot},
  author={Eui-Jung Jung and Jae Hoon Lee and Byung-Ju Yi and Il Hong Suh and Shin'ichi Yuta and Si Tae Noh},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={3595-3600}
}
This paper presents tracking algorithms of a mobile robot that follows a human body moving at high speed in unstructured outdoor environment. The mobile robot, which is a differential-driven wheel type, is equipped with one laser range finder to perform high-speed human tracking and obstacle avoidance. Initially, the waist part of the human body is found the best part of the human body for robust tracking by a laser range finder. Next an obstacle avoidance algorithm considering the relative… CONTINUE READING

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