Person localization and tracking for a leader following vehicle by wireless sensors

Author

Wei Zhao ; Jun Tan ; Xiangjing An ; Peidong Wang

Author_Institution

Inst. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha, China

fYear

2015

fDate

2-5 Aug. 2015

Firstpage

2615

Lastpage

2620

Abstract

This paper presents a person localization and tracking method for a leader following UGV by wireless sensors. One of the sensors is carried by the leading person as a responsive node. The others are fixed on the vehicle as anchor nodes to provide distance information about the responsive node. On the basis of these information, we can compute the position of the person by Least-Square. Installation position of the sensors on the vehicle is also discussed and optimized to reduce localization error. Combined with an Extended Kalman filter, the position of the person is estimated real-timely. The experimental results have showed the validity of this method. Our UGV can follow the leading person stably by the position estimated.

Keywords

Kalman filters; automatic guided vehicles; least squares approximations; mobile robots; nonlinear filters; object tracking; robot vision; extended Kalman filter; leader following UGV; least-square; person localization and tracking; person position estimation; wireless sensors; Kalman filters; Mathematical model; Pollution measurement; Sensors; Vehicles; Wireless communication; Wireless sensor networks; Optimization; Person localization and tracking; UGV; Wireless Sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2015 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4799-7097-1

Type

conf

DOI

10.1109/ICMA.2015.7237899

Filename

7237899