Efficient driving of tracking robot using kalman filters

Abstract

Path planning of mobile robot has a purpose to design an optimal path from initial position to target point. Driving distance is considered when choose the optimal path. In this paper, we proposed efficient driving trajectory when mobile robot follows moving object in real time. First, position and distance of moving object can be acquired using one web camera and rotation angular velocity, linear velocity is estimated using Kalman filter to predict trajectory of moving object. Finally mobile robot follows moving object using proposed tracking control method by estimating trajectory of moving object.