R. K. Megalingam, Anandu R, Dasari HemaTejaAnirudhBabu, Ghali Sriram, Venkata Sai YashwanthAvvari
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引用次数: 4
摘要
本研究工作涉及在ROS_Gazebo平台上实现一个人跟随机器人。作为本研究工作的一部分，我们设计了一个可以跟随人的移动机器人(用于仿真)。它可以帮助人们把重物带到他们想要的地方。整个仿真工作是借助ROS2 (Robot Operating System Version2)进行的。我们使用Gazebo和RVIZ作为仿真工具来验证输出。MakeHuman和Blender软件帮助创建了一个动画人物，并验证了凉亭的渲染。该移动机器人利用深度摄像头(Kinect)探测人，利用激光雷达计算机器人与人之间的距离。YOLOv3算法已被用于图像识别。对于这个移动机器人，我们在gazebo软件中模拟了多人，以确保机器人只跟随一个特定的人。Kinect传感器使用对象检测算法来识别和跟踪特定的人。
Implementation of a Person Following Robot in ROS-gazebo platform
This research work involves the implementation of a person follower robot in ROS_Gazebo platform As part of this research work, we designed a mobile robot (for simulation)that can follow human beings. It assists people carrying heavyweights to their desired locations by following them. The entire simulation work is carried out with the help of ROS2 (Robot Operating System Version2). We used Gazebo and RVIZ as simulation tools to verify the outputs. MakeHuman and Blender software's assisted in creating an animated person and verify the rendering in the gazebo. The mobile robot created makes use of a Depth camera (Kinect) to detect a person and Lidars to calculate the distance between the robot and person. YOLOv3 algorithm has been used for image recognition. With this mobile robot, we simulated with multiple persons in gazebo software to make sure the robot is following only one particular person. The Kinect sensor uses object detection algorithms to identify and follow a particular person.
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