A moving object tracked by a mobile robot with real-time obstacles avoidance capacity

Chung Hao Chen; Chang Cheng; David Page; Andreas Koschan; Mongi Abidi

doi:10.1109/ICPR.2006.106

A moving object tracked by a mobile robot with real-time obstacles avoidance capacity

Chung Hao Chen
, Chang Cheng
, David Page
, Andreas Koschan
, Mongi Abidi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

17 Scopus citations

Abstract

This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called Dynamic Goal Potential Field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving.

Original language	English
Title of host publication	Track C
Subtitle of host publication	Applications and Robotics Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1091-1094
Number of pages	4
ISBN (Print)	0769525210, 9780769525211
DOIs	https://doi.org/10.1109/ICPR.2006.106
State	Published - 2006
Externally published	Yes
Event	18th International Conference on Pattern Recognition, ICPR 2006 - Hong Kong, China Duration: Aug 20 2006 → Aug 24 2006

Publication series

Name	Proceedings - International Conference on Pattern Recognition
Volume	3
ISSN (Print)	1051-4651

Conference

Conference	18th International Conference on Pattern Recognition, ICPR 2006
Country/Territory	China
City	Hong Kong
Period	08/20/06 → 08/24/06

Access to Document

10.1109/ICPR.2006.106

Cite this

Chen, C. H., Cheng, C., Page, D., Koschan, A., & Abidi, M. (2006). A moving object tracked by a mobile robot with real-time obstacles avoidance capacity. In Track C: Applications and Robotics Systems (pp. 1091-1094). (Proceedings - International Conference on Pattern Recognition; Vol. 3). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICPR.2006.106

@inproceedings{ac05295c8a4d46f1a72ebf2799d21c12,

title = "A moving object tracked by a mobile robot with real-time obstacles avoidance capacity",

abstract = "This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called Dynamic Goal Potential Field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving.",

author = "Chen, \{Chung Hao\} and Chang Cheng and David Page and Andreas Koschan and Mongi Abidi",

year = "2006",

doi = "10.1109/ICPR.2006.106",

language = "English",

isbn = "0769525210",

series = "Proceedings - International Conference on Pattern Recognition",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1091--1094",

booktitle = "Track C",

note = "18th International Conference on Pattern Recognition, ICPR 2006 ; Conference date: 20-08-2006 Through 24-08-2006",

}

Chen, CH, Cheng, C, Page, D, Koschan, A & Abidi, M 2006, A moving object tracked by a mobile robot with real-time obstacles avoidance capacity. in Track C: Applications and Robotics Systems. Proceedings - International Conference on Pattern Recognition, vol. 3, Institute of Electrical and Electronics Engineers Inc., pp. 1091-1094, 18th International Conference on Pattern Recognition, ICPR 2006, Hong Kong, China, 08/20/06. https://doi.org/10.1109/ICPR.2006.106

A moving object tracked by a mobile robot with real-time obstacles avoidance capacity. / Chen, Chung Hao; Cheng, Chang; Page, David et al.
Track C: Applications and Robotics Systems. Institute of Electrical and Electronics Engineers Inc., 2006. p. 1091-1094 (Proceedings - International Conference on Pattern Recognition; Vol. 3).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A moving object tracked by a mobile robot with real-time obstacles avoidance capacity

AU - Chen, Chung Hao

AU - Cheng, Chang

AU - Page, David

AU - Koschan, Andreas

AU - Abidi, Mongi

PY - 2006

Y1 - 2006

N2 - This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called Dynamic Goal Potential Field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving.

AB - This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called Dynamic Goal Potential Field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving.

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U2 - 10.1109/ICPR.2006.106

DO - 10.1109/ICPR.2006.106

M3 - Conference contribution

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SN - 0769525210

SN - 9780769525211

T3 - Proceedings - International Conference on Pattern Recognition

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BT - Track C

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 18th International Conference on Pattern Recognition, ICPR 2006

Y2 - 20 August 2006 through 24 August 2006

ER -

A moving object tracked by a mobile robot with real-time obstacles avoidance capacity

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