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Multi-sensor service-based robot following system and method

A multi-sensor, robot technology, applied in the field of robotics, can solve the problem of not considering obstacle avoidance, unable to track multiple targets, etc., to achieve the effect of improving robustness and tracking accuracy

Inactive Publication Date: 2012-04-11
ZHEJIANG UNIV
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, this invention cannot track multiple targets at the same time, and does not consider the obstacle avoidance problem in the tracking process

Method used

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  • Multi-sensor service-based robot following system and method

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Embodiment Construction

[0022] Below in conjunction with accompanying drawing and specific embodiment the technical scheme of invention is described in further detail:

[0023] figure 1 It is a structural schematic diagram of the robot following system provided by the present invention. Such as figure 1 As shown, the robot following system of the present invention includes a sensor detection part, a detection fusion part and a motion execution part. The laser and depth camera are used to collect the target person, and the host computer uses the sampling-based joint probability filter algorithm (SJPDAF) to update the target person's position, and the gimbal and chassis track and follow according to the updated target person's position.

[0024] The sensor detection part is responsible for collecting the position and chassis obstacle information of all similar people in the field of vision, and sending all the measurement information to the upper host computer. The sensor detection part includes a v...

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Abstract

The invention discloses a system and method for allowing a robot to follow a target person according to fused measuring information of multiple sensors. The system comprises a sensor detection part, a detection fusion part, a motion executing part and a host main control computer, wherein the sensor detection part is used for acquiring the positions of all similar persons in a visual field and transmitting all measuring information to the host main control computer; the detection fusion part is used for updating the position of a target person with a sampling-based joint probability filtering algorithm by using the host main control computer; and the motion executing part is used for generating a motion target according to current target person information and obstacle information and executing tracking and following. In the invention, measuring information of multiple sensors is fused, and collisionless following is performed on the target person in combination with the sampling-based joint probability filtering algorithm and an obstacle avoidance algorithm, so that self-following of the robot can be realized under the condition that interfering persons exist in a room, and the following robustness and tracking accuracy are increased simultaneously.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a robot following system and method. Specifically, it is a system and method for a robot to autonomously follow a target person based on measurement information fused by multiple sensors. technical background [0002] Target person following is a hot issue in the research of human-computer interaction. It not only has a wide range of application requirements in the field of robotics, such as robotic wheelchairs that assist the disabled and patients to move, robots that carry heavy luggage behind their owners, etc., but also for reconnaissance. Large-scale military robots also have application value. The following process often occurs in a multi-person natural environment including target people and non-target people, so the robot needs to accurately follow the specified target while avoiding obstacles. [0003] At present, the existing robot tracking system mainly uses a single laser sensor,...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 刘南洋熊蓉王军南李千山褚健
Owner ZHEJIANG UNIV
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