LRFとパン・チルト回転機構上のRGB-Dセンサを用いた人追従走行ロボットの開発

抄録

Our purpose of this study is to develop a person following robot using a LRF and a RGB-D sensor on a pan/tilt-rotated mechanism. To acquire the position of the target to be followed, the target must be kept within the sensor’s measurement range. Therefore, in this study, we combine both the methods of recognizing a person in the image by letting it orient the RGB-D sensor on a pan/tilt-rotated mechanism to the target direction and tracking the target of a person with an LRF-based particle filter. In controlling the robot, we have used the DWA method to avoid obstacles and the PI control for its direction change. The experimental results conducted with the combined method will be demonstrated for the effectiveness to the following robot system.