Moving Target Tracking with Robot Based on Laser Range Finder

摘要

The moving target detection and tracking of mobile robots have always been a difficulty and hot spot in the field of robot research. This paper focuses on the detection and tracking algorithm of the robot moving target based on the Laser Range Finder. Firstly, the algorithm uses a Laser Range Finder to obtain the relative distance and direction information between the robot and the moving object in real-time. Then, according to the current distance and azimuth information, the instantaneous movement speed and acceleration information of the robot and the moving target, and the physical parameters of the robot itself, the movement state of the movement target is calculated and predicted, and the control function is fitted. The control strategy enables the robot to track the moving target in real-time. Experiments were conducted on the AS-R robot platform. The experimental results show that the control algorithm can effectively track the moving target in real-time, and the algorithm has good robustness.