DocumentCode
3243408
Title
Detection, motion planning and control of human tracking mobile robots
Author
Kim, Dong-Hyung ; Lee, Youngmyung ; Lee, Ji-Yeong ; Park, Gyung-Jin ; Han, Chang-Soo ; Agrawal, Sunil K.
Author_Institution
Dept. of Mech. Eng., Hanyang Univ., Seoul, South Korea
fYear
2011
fDate
23-26 Nov. 2011
Firstpage
113
Lastpage
118
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.
Keywords
face recognition; mobile robots; object tracking; path planning; visual perception; face detection; face recognition; human tracking mobile robots; kinematic model; mobile robot; motion planning; robot trajectory; stereo vision camera; Cameras; Face; Humans; Legged locomotion; Robot kinematics; Human detection; Human tracking; Mobile robot; Motion planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location
Incheon
Print_ISBN
978-1-4577-0722-3
Type
conf
DOI
10.1109/URAI.2011.6145943
Filename
6145943
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