Dynamic object tracking system

In this paper, we describe a moving object tracking system for a personal mobility platform designed to improve the mobility of handicapped and older people. The system consists of two steps for continuously detecting a certain target. To be specific, the first step is to designate a person as a target. In this step, if an object is locate within the certain area of near the vehicle, the system will perceive it as a target. Next step is to calculate the distance and direction between the vehicle and the target. When those information is provided to the tracking system, the vehicle has to follow the object for the purpose of keeping constant distance between them. The vehicle is equipped with two LiDAR sensors located on the front and left side of that, respectively. The function of the former sensor (HOKUYO-UTM30lx) is to find a target located in the front area of the vehicle, and that of the latter one(HOKUYO-URG04lx) is to discover a target located in the left area of that. In order to prove the effectiveness of the system, we conduct several experiments in indoor and outdoor environments. In the case of an indoor experiment, the vehicle detect a certain person as a target, and continuously follow in the place where people are crowded. In outdoor, vehicle platooning is performed by means of the system in three vehicles.