基于激光传感器移动机器人的目标定位和多模式跟踪

移动机器人对运动目标的感知和跟踪是实现机器人与环境交互的一项重要能力。针对移动机器人以人为目标的跟踪中在复杂动态环境下经常出现的目标丢失和跟踪模式单一的问题,提出了基于机器学习的人物目标识别算法。该算法可以处理复杂环境下的目标检测和定位。同时设计了交互多模型跟踪算法,可以较好的跟踪以不规律模式运动的目标。最后在交龙移动机器人平台上实现了整个系统,验证了人物目标检测和多模式跟踪算法的鲁棒性和优越性。

Laser Based on Mobile Robot Target Localizing and Multi-Motion Patterns Tracking

It is an important capacity for the mobile robot to sense the moving object and tracking it when the robot makes interaction with the surroundings. This paper proposes the machine learning based people detecting and localizing algorithm which could handle the problems of tracking target missing and single motion pattern tracking in complex and dynamic environment. At the same time, the interactive multi models tracking algorithm is designed to cope with the moving people with random motion pattern. At last,...