提出了一种基于深度和测距传感器的人体跟随与室内机器人联合导航传感器融合技术

Mark Tee Kit Tsun, Lau Bee Theng, H. S. Jo, Sian Lun Lau
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引用次数: 4

摘要

开发室内机器人自主导航面临的主要挑战之一是在满足额外机动要求的同时,设计出能够兼顾避障的策略。现有的儿童跟随同伴机器人原型CARMI被用作本文的案例研究。CARMI的主要功能是自动跟踪儿童,使其保持在基于视觉的活动跟踪系统的最佳检测区域内,同时通过家具和障碍物导航。本文研究了CARMI的要求,并调查了室内导航研究的最新进展,最后提出了一种结合深度传感器、测距传感器阵列和主动红外标记跟踪系统的传感器融合技术的设计和建议。目的是利用这种受漫游立场算法和势场法启发的新方法,实现机器人跟踪和避障的导航系统。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Proposing a Sensor Fusion Technique Utilizing Depth and Ranging Sensors for Combined Human Following and Indoor Robot Navigation
One of the main challenges faced in developing autonomous navigation for indoor robots is designing the strategy to account for a combination of obstacle avoidance while fulfilling additional maneuvering requirements. An existing child-following companion robot prototype called CARMI is used as a case study for this paper. CARMI's main function is to autonomously follow a child, maintaining her within the optimal detection zone of its vision-based activity tracking system, all the while navigating through furniture and obstructions. This paper examines CARMI's requirements and surveys the state-of-the-art of indoor navigation research, culminating in a design and proposal of a sensor-fusion technique combining the depth sensor, ranging sensor array and Active IR marker tracking system. The aim is to realize a robot navigation system for both person-following and obstacle avoidance using this novel method inspired by the Wandering Standpoint Algorithm and Potential Field Method.
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