Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans

Electronics

Mar໚ A. Martínez¹  Jorge L. Martínez²  Jesús Morales² 

[1] Department of Systems Engineering and Automation, Universidad de Málaga, Andalucía Tech, 29071 Málaga, Spain;

关键词: motion sensing;    pedestrian detection;    data segmentation;    fuzzy algorithm;    mobile robot;    laser rangefinder;   

DOI  :  10.3390/electronics4010082

来源: mdpi

【 摘 要 】

Motion detection and tracking is a relevant problem for mobile robots during navigation to avoid collisions in dynamic environments or in applications where service robots interact with humans. This paper presents a simple method to distinguish mobile obstacles from the environment that is based on applying fuzzy threshold selection to consecutive two-dimensional (2D) laser scans previously matched with robot odometry. The proposed method has been tested with the Auriga-α mobile robot in indoors to estimate the motion of nearby pedestrians.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.