Dynamic target tracking using a four wheeled mobile robot with optimal path planning technique

摘要

A car-like robot that tracks a moving target by following smoothed Rapidly exploring Random Tree (RRT) path planning technique is developed. Mobile robot can track the target by avoiding obstacles on its path. Moving target can also be efficiently tracked by the robot. Case studies are done in dynamic situations. Kinematic model is considered for the mobile robot and the velocity with which the left and right wheels of the car moves are observed using simulation. The model of the system and the path planning algorithm including all case studies has been simulated and the required results are obtained.