Target Tracking and Obstacle Avoidance for Mobile Robot based on Kinect

DOI

10.2991/icmmita-15.2015.205How to use a DOI?

Keywords

mobile robot;Target tracking ;obstacle avoidance;Kinect;BFO-PF;artificial potential field;

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.Tracking part uses the improved particle filter algorithm.To deal with the particle degeneracy problem, a new particle filter (PF) based on the Bacteria Foraging Optimization (BFO) algorithm is proposed.Improved artificial potential field method increases the safe area which 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 results show that the system can accomplish the task of tracking and obstacle avoidance.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Mengxin Li
AU  - Jiadi Yin
PY  - 2015/11
DA  - 2015/11
TI  - Target Tracking and Obstacle Avoidance for Mobile Robot based on Kinect
BT  - Proceedings of the 2015 3rd International Conference on Machinery, Materials and Information Technology Applications
PB  - Atlantis Press
SP  - 1116
EP  - 1120
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmmita-15.2015.205
DO  - 10.2991/icmmita-15.2015.205
ID  - Li2015/11
ER  -