Human tracking algorithm using thermal images by autonomous mobile robots

Abstract

This paper presents the hardware configuration of a four-wheeled autonomous mobile robot with a newly designed and developed thermal array sensor integrated into the human detection function. The person-following algorithm divides the pixel area acquired by the thermal array sensor into specific areas, sorts the highest temperatures, and determines the robot's motion based on the area where the highest temperature is located. Finally, we conducted an experiment using this algorithm to make the robot follow a person by walking a circular course and realized that the robot follows the person.