Project Abstract:
Planning the motions of a mobile robot tracking a moving object
(a target) in an obstacle-cluttered space is a challenging planning
problem. The tracker must choose its path in order to keep the
target, which moves among obstacles, inside its field of view. It
must also avoid collision with the obstacles. Several algorithms for
different problem cases in previous work are introduced. The
tracking algorithm is used in our work for Elderly Care. What is
special for this problem is that the robot does not always try to
catch or follow the target based on the indoor using requirements.
A decision-making algorithm is used to control the robot. |