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Detection, motion planning and control of human tracking mobile robots

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6 Author(s)
Dong-Hyung Kim ; Dept. of Mech. Eng., Hanyang Univ., Seoul, South Korea ; Youngmyung Lee ; Ji-Yeong Lee ; Gyung-Jin Park
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In this paper, a method combining detection, motion planning and control of human tracking mobile robots is discussed. Using face recognition and detection of a pair of human legs via a stereo vision camera and 2D laser scanner, respectively, the human position is estimated. Based on the differential flatness property of the kinematic model of the mobile robot, the trajectory of the robot to the moving human is planned in real-time. The combined motion planning and control method is used for tracking a detected human.

Published in:
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on

Date of Conference: 23-26 Nov. 2011

Page(s):
113 - 118
Print ISBN:
978-1-4577-0722-3
INSPEC Accession Number:
12539860
Conference Location :
Incheon
Digital Object Identifier :
10.1109/URAI.2011.6145943
Product Type:
Conference Publications

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