期刊名称：International Journal of Advanced Research in Computer Engineering & Technology (IJARCET)
印刷版ISSN：2278-1323
出版年度：2015
卷号：4
期号：3
页码：731-736
出版社：Shri Pannalal Research Institute of Technolgy
摘要：The paper presents a human following and an obstacle avoiding algorithm for the Bot that provides a service to a marathoner while training. For its working, the Bot shold have the abilities of following a human and dynamically avoid the variable positioning obstacles in an unlevelled outdoor surroundings. The Bot detects a human by a transceiver model , speed is controlled using PWM signal concept and the direction is controlled using sensors. To avoid moving obstacles while following a running person, there is a defined definite radius of each obstacle using the relative velocity between the Bot and an obstacle. For easily avoiding obstacles without collision, a dynamic obstacle avoiding algorithm for the Bot is implemented, which directly employs a real-time position between the Bot and it follows the shortest path around the obstacle to avoid it. We verified the feasibility of these algorithms through experimentation in different outdoor environments.
