کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
4948650 1439844 2017 42 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Searching and tracking people in urban environments with static and dynamic obstacles
ترجمه فارسی عنوان
جستجو و ردیابی افراد در محیط های شهری با موانع استاتیک و پویا
کلمات کلیدی
روباتیک شهری، ربات های جستجو و نجات، انسانی-روبات-تعامل، فیلتر ذرات،
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
چکیده انگلیسی
Searching and tracking people in crowded urban areas where they can be occluded by static or dynamic obstacles is an important behavior for social robots which assist humans in urban outdoor environments. In this work, we propose a method that can handle in real-time searching and tracking people using a Highest Belief Particle Filter Searcher and Tracker. It makes use of a modified Particle Filter (PF), which, in contrast to other methods, can do both searching and tracking of a person under uncertainty, with false negative detections, lack of a person detection, in continuous space and real-time. Moreover, this method uses dynamic obstacles to improve the predicted possible location of the person. Comparisons have been made with our previous method, the Adaptive Highest Belief Continuous Real-time POMCP Follower, in different conditions and with dynamic obstacles. Real-life experiments have been done during two weeks with a mobile service robot in two urban environments of Barcelona with other people walking around.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 98, December 2017, Pages 147-157
نویسندگان
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