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Tracking a moving object with real‐time obstacle avoidance

Chung‐Hao Chen (Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, Tennessee, USA)
Chang Cheng (Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, Tennessee, USA)
David Page (Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, Tennessee, USA)
Andreas Koschan (Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, Tennessee, USA)
Mongi Abidi (Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, Tennessee, USA)

Industrial Robot

ISSN: 0143-991X

Article publication date: 1 November 2006

Issue publication date: 1 November 2006

962

Abstract

Purpose

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Aims to develop a robotic platform to autonomously track a moving object

Design/methodology/approach

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This robotic platform, based on a modular system known as SafeBot, uses two sensors: a visual CCD camera and a laser‐based range sensor. The rigidly mounted camera tracks an object in front of the platform and generates appropriate drive commands to keep the object in view, even if the object itself moves. The range sensor detects other objects as the platform moves to provide real‐time obstacle avoidance while continuously tracking the original object.

Findings

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The current approach successfully tracks an object, particularly a human subject, and avoids reasonably sized obstacles, but on‐board processing limitations restrict the speed of the object to approximately 5 km/h.

Originality/value

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The core technology – a moving object tracked by a mobile robot with real‐time obstacle avoidance – is an integrated system comprising object tracking on a mobile platform and real‐time obstacle avoidance with robotic control. This system is applicable to a variety of automated applications such as inventory management, industrial palette distribution, and intruder surveillance.

Keywords

Acknowledgements

Corrigendum: It has come to the attention of the publisher that the article Chen, C., Cheng, C., Page, D., Koschan, A. and Abidi, M. (2006), “Tracking a moving object with real-time obstacle avoidance”, Industrial Robot, Vol. 33 No. 6, pp. 460-468. https://doi.org/10.1108/01439910610705635, did not include a citation to the original article from which it was developed of the article C. Chen, C. Cheng, D. Page, A. Koschan and M. Abidi, “A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles Avoidance Capacity,” 18th International Conference on Pattern Recognition (ICPR’06), Hong Kong, China, 2006, pp. 1091-1094, doi: 10.1109/ICPR.2006.106. The authors and the publisher sincerely apologize to the readers.

This work is supported by the University Research Program in Robotics under grant DOE-DE-FG52-2004NA25589 and by the DOD/RDECOM/NAC/ARC Program under grant W56HZV-04-2-0001.

Citation

Chen, C., Cheng, C., Page, D., Koschan, A. and Abidi, M. (2006), "Tracking a moving object with real‐time obstacle avoidance", Industrial Robot, Vol. 33 No. 6, pp. 460-468. https://doi.org/10.1108/01439910610705635

Publisher

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Emerald Group Publishing Limited

Copyright © 2006, Emerald Group Publishing Limited

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