An approach to tracking motion of mobile robot for moving object

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.