Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
Eighteenth national conference on Artificial intelligence
Real-time target tracking in an indoor environment
Real-time target tracking in an indoor environment
Motion prediction of moving objects based on autoregressive model
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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This paper presents a novel approach for the problem of tracking a moving target in a dynamic environment. The robot has to move such that it keeps the target visible for the longest time possible, and at the same time, avoid colliding with any of the moving obstacles. This paper presents a solution that is based on the idea of three interacting components which perform: tracking, collision avoidance and motion selection. The proposed solution is validated using a comprehensive set of simulations, which show that transition from tracking in static environments to tracking in dynamic environments can be done without much loss in robot safety or tracking ability.