Target-following Scheme for Mobile Robots Based on the Virtual Sub-goal Points

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An indoor mobile robot must have the ability to follow and track a moving target-object. This paper proposes an effective target-following scheme for mobile robots. The positions of the mobile agents are acquired from an RFID-based localization system. To estimate the state of the mobile agents and to predict the trajectory, a state model and a Kalman-filter are used. The objective of this study is to generate a stable tracking path for the mobile robot. We proposed a Virtual Tracking-goal Algorithm (VTA) based on the predicted position of the target-object for this objective.
Publisher
INT INFORMATION INST
Issue Date
2010-11
Language
English
Article Type
Article
Citation

INFORMATION-AN INTERNATIONAL INTERDISCIPLINARY JOURNAL, v.13, no.6, pp.1929 - 1938

ISSN
1343-4500
URI
http://hdl.handle.net/10203/96883
Appears in Collection
EE-Journal Papers(저널논문)
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