An approach to tracking motion of mobile robot for moving object

J. Miyata, Toshiyuki Murakami, K. Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)


This paper describes a tracking motion to follow a moving object in mobile robot system. Here a realization of obstacle avoidance motion is an important issue to track moving object continuously. To address the above issue, in this paper, the tracking strategy with a virtual goal under the well-known environment is proposed. Then a switching algorithm of tracking and obstacle avoidance motion is also taken up. To achieve the smooth switching, a virtual object is introduced, and a tracking motion is considered according to the virtual object. Several numerical and experimental results are shown to confirm the proposed tracking algorithm.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE Computer Society
Number of pages6
Publication statusPublished - 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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