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JRM Vol.31 No.2 pp. 194-202
doi: 10.20965/jrm.2019.p0194
(2019)

Paper:

Robust Human Tracking of a Crawler Robot

Yasuaki Orita and Takanori Fukao

Graduate School of Science and Engineering, Ritsumeikan University
1-1-1 Noji-higashi, Kusatsu, Shiga 525-8577, Japan

Received:
October 22, 2018
Accepted:
January 28, 2019
Published:
April 20, 2019
Keywords:
human tracking, automatic tracking, 3D-LiDAR, NDT-SLAM, inverse optimal control
Abstract
Robust Human Tracking of a Crawler Robot

A crawler robot tracks a person automatically

Carrying out firefighting activities at disaster sites is extremely difficult. Therefore, robots that support and enhance these operations are required. In this paper, a crawler robot that tracks the moving path of a firefighter is proposed. It is commonly believed that trained firefighters select the best route; thus, it was assumed that this route is the easiest for the crawler robot as well. Using two 3D light detection and ranging sensors, once the firefighter’s coordinates are detected, the coordinates are combined with 3D simultaneous localization and mapping results, then a target path is generated. The crawler robot follows the path using inverse optimal tracking control. The controller has a stability margin that guarantees robustness, which is an ideal property for disaster response robots used in severe conditions. The results of several experiments show that the proposed system is effective and practical for the crawler robot.

Cite this article as:
Y. Orita and T. Fukao, “Robust Human Tracking of a Crawler Robot,” J. Robot. Mechatron., Vol.31, No.2, pp. 194-202, 2019.
Data files:
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Last updated on Sep. 19, 2019