Abstract:
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 h...View moreMetadata
Abstract:
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: 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
Date of Conference: 23-26 November 2011
Date Added to IEEE Xplore: 06 February 2012
ISBN Information: