Mobile robot navigation and target tracking system

TLDR

The study develops a mobile robot navigation and target‑tracking framework aimed at enabling autonomous multi‑agent operation in outdoor environments. The framework employs an Xbox Kinect sensor feeding RGB and depth data to an Ubuntu‑based x86 computer that runs a fuzzy‑logic controller for obstacle avoidance and target following, while transmitting data to a server that applies neural‑network learning for pattern recognition, object tracking, long‑term path planning, and process improvement.

Abstract

This paper presents the framework for the navigation and target tracking system for a mobile robot. Navigation and target tracking are to be performed using a Microsoft Xbox Kinect sensor which provides RGB color and 3D depth imaging data to an x86 based computer onboard the robot running Ubuntu Linux. A fuzzy logic controller to be implemented on the computer is considered for control of the robot in obstacle avoidance and target following. Data collected by the computer is to be sent to a server for processing with learning-based systems utilizing neural networks for pattern recognition, object tracking, long-term path planning and process improvement. An eventual goal of this work is to create a multi-agent robot system that is able to work autonomously in an outdoor environment.