文章基本信息

标题：Development of Human Tracking ,Control and Obstacle Avoiding Marathoner Bot
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作者：P.R. Badadapure ; Yogesh Palve ; Abhishek Vig 等
期刊名称：International Journal of Advanced Research in Computer Engineering & Technology (IJARCET)
印刷版ISSN：2278-1323
出版年度：2015
卷号：4
期号：3
页码：731-736
出版社：Shri Pannalal Research Institute of Technolgy
摘要：The paper presents a human following and an obstacle avoiding algorithm for the Bot that provides a service to a marathoner while training. For its working, the Bot shold have the abilities of following a human and dynamically avoid the variable positioning obstacles in an unlevelled outdoor surroundings. The Bot detects a human by a transceiver model , speed is controlled using PWM signal concept and the direction is controlled using sensors. To avoid moving obstacles while following a running person, there is a defined definite radius of each obstacle using the relative velocity between the Bot and an obstacle. For easily avoiding obstacles without collision, a dynamic obstacle avoiding algorithm for the Bot is implemented, which directly employs a real-time position between the Bot and it follows the shortest path around the obstacle to avoid it. We verified the feasibility of these algorithms through experimentation in different outdoor environments.
关键词：Human detection; Pulse Width Modulation ; mobile ; Bot; obstacle avoidance