人体跟踪室内移动机器人平台的研制

Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014 Pub Date : 2014-12-01 DOI:10.1109/MECHATRONIKA.2014.7018343

S. Karakaya, G. Kucukyildiz, C. Toprak, H. Ocak

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引用次数: 7

摘要

为了进行室内移动机器人的研究，本文开发了一种差动驱动移动机器人平台。移动机器人是本地化和远程控制。遥控器由一对2.4 GHz收发器组成。采用红外反射器、红外发光二极管和摄像系统开发了定位系统。在安装在移动机器人上的工业计算机上运行实时定位系统。移动机器人的定位数据通过UDP通信程序进行传输。传输的定位信息可以被任何计算机或任何其他UDP设备接收。此外，激光雷达(光探测和测距;(激光成像探测和测距)和Kinect三维深度传感器在移动机器人平台上进行了改造。使用LIDAR进行障碍物和航向检测操作，使用Kinect消除近距离环境的深度数据。本研究开发了具有上述特点的移动机器人平台，并在MATLAB和c#环境下实时实现了人体跟踪应用程序。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of a human tracking indoor mobile robot platform

In this paper, a differential drive mobile robot platform was developed in order to perform indoor mobile robot researches. The mobile robot was localized and remote controlled. The remote control consists of a pair of 2.4 GHz transceivers. Localization system was developed by using infra-red reflectors, infra-red leds and camera system. Real time localization system was run on an industrial computer placed on the mobile robot. The localization data of the mobile robot is transmitted by a UDP communication program. The transmitted localization information can be received any computer or any other UDP device. In addition, a LIDAR (Light Detection and Ranging; or Laser Imaging Detection and Ranging) and a Kinect three-dimensional depth sensor were adapted on the mobile robot platform. LIDAR was used for obstacle and heading direction detection operations and Kinect for eliminating depth data of close environment. In this study, a mobile robot platform which has specialties as mentioned was developed and a human tracking application was realized real time in MATLAB and C# environment.

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Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014

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