Tracking and Classification of Dynamic Obstacles with Laser Range Finder in Indoor Environments

被引：0
作者：
Liu, Chunshan [1 ]
Dong, Erbao [1 ]
Duan, Zhuo [1 ]
Huang, He [1 ]
Xu, Min [1 ]
Yang, Jie [1 ]
机构：
[1] Univ Sci & Technol China, Dept Precis Machinery & Precis Instrumentat, Hefei 230026, Anhui, Peoples R China
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2015年
关键词：
MOBILE ROBOT; NAVIGATION; AVOIDANCE;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
It is a key issue for a service robot to deal with different kinds of dynamic obstacles in indoor environments. An approach to track and classify dynamic obstacles in indoor environments is proposed in this paper. A laser range finder (LRF) is used to detect and acquire information of dynamic obstacles. Accordingly dynamic obstacles are grouped into three categories: active obstacles, inactive obstacles and inactive obstacles combined with active obstacles. Three typical obstacles belonging to three categories are analysed based on frequency analysis respectively. According to relative power spectrums, two attributes are put forward to classify three classes of dynamic obstacles. The classification approach could be beneficial to navigation when coping with dynamic obstacles in the indoor environment.
引用
收藏
页码：2365 / 2370
页数：6
相关论文
共 50 条
  • [31] Playing with a Robot: Realization of "Red Light, Green Light" using a Laser Range Finder
    Sakai, Keisuke
    Hiroi, Yutaka
    Ito, Akinori
    2015 THIRD INTERNATIONAL CONFERENCE ON ROBOT, VISION AND SIGNAL PROCESSING (RVSP), 2015, : 1 - 4
  • [32] Localization of a Mobile Robot Using a Laser Range Finder in a Glass-Walled Environment
    Kim, Jiwoong
    Chung, Woojin
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (06) : 3616 - 3627
  • [33] Confined spaces industrial inspection with micro aerial vehicles and laser range finder localization
    Tripicchio, Paolo
    Satler, Massimo
    Unetti, Matteo
    Avizzano, Carlo A.
    INTERNATIONAL JOURNAL OF MICRO AIR VEHICLES, 2018, 10 (02) : 207 - 224
  • [34] Object-Based Pose Graph for Dynamic Indoor Environments
    Gomez, Clara
    Hernandez, Alejandra C.
    Derner, Erik
    Barber, Ramon
    Babuska, Robert
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2020, 5 (04): : 5401 - 5408
  • [35] Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape
    Haraldsen, Aurora
    Wiig, Martin S.
    Pettersen, Kristin Y.
    IFAC PAPERSONLINE, 2021, 54 (14): : 155 - 160
  • [36] A featureless approach for object detection and tracking in dynamic environments
    Zohaib, Mohammad
    Ahsan, Muhammad
    Khan, Mudassir
    Iqbal, Jamshed
    PLOS ONE, 2023, 18 (01):
  • [37] Reinforcement Learning-Based Approach to Robot Path Tracking in Nonlinear Dynamic Environments
    Chen, Wei
    Zhou, Zebin
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2024, 21 (04)
  • [38] THE EVALUATION OF HOKUYO URG-04LX-UGO1 LASER RANGE FINDER DATA
    Krejsa, J.
    Vechet, S.
    ENGINEERING MECHANICS 2017, 2017, : 522 - 525
  • [39] Automated Localization of a Laser Scanner in Indoor Environments Using Planar Objects
    Khoshelham, Kourosh
    2010 INTERNATIONAL CONFERENCE ON INDOOR POSITIONING AND INDOOR NAVIGATION, 2010,
  • [40] A Survey of Methods for Mobile Robot Localization and Mapping in Dynamic Indoor Environments
    Panchpor, Aishwarya A.
    Shue, Sam
    Conrad, James M.
    2018 CONFERENCE ON SIGNAL PROCESSING AND COMMUNICATION ENGINEERING SYSTEMS (SPACES), 2018, : 138 - 144
12345