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
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;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6145943
