Service mobile robot control for tracking a moving object with collision avoidance

One of the crucial features of a service robot is the ability “to see” the environment and a target object for smooth navigation. This paper deals with a mobile robot that recognizes and tracks a moving object attached to a wheelchair in a obstacle existing environment. The experiment was conducted in three scenarios, the first one is that the robot is set to recognize and track a moving object in obstacle free environment, and the second and the third ones are the L-course and the crank course bordered by boxes as the obstacles. The third scenario was conducted five times with five different human-targets. The experimental results show that the proposed method is effective in recognizing and tracking the moving object.