Detection, motion planning and control of human tracking mobile robots | IEEE Conference Publication | IEEE Xplore

Detection, motion planning and control of human tracking mobile robots

Publisher: IEEE

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 more

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.
Date of Conference: 23-26 November 2011
Date Added to IEEE Xplore: 06 February 2012
ISBN Information:
Publisher: IEEE
Conference Location: Incheon, Korea (South)

References

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