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基于深度相机的移动机器人自主跟随技术
Alternative TitleAutonomous following technology of mobile robot based on depth camera
任恒乐1,2,3; 徐方1,2,4; 邸霈4; 田大吉4
Department其他
Source Publication计算机工程与设计
ISSN1000-7024
2020
Volume41Issue:2Pages:562-566
Contribution Rank1
Funding Organization国家重点研发计划基金项目(2017YFC0806700)
Keyword自主跟随 行人识别 社会力模型 人工势场法 全向移动平台
Abstract

为解决移动机器人在复杂环境下进行自主跟随的问题,提出一种基于深度相机的自主跟随方法。搭建一个载有深度相机的全向移动平台;通过提取图像中的方向梯度直方图来检测行人,利用社会力模型预测行人的运动状态,结合分段颜色直方图信息提出一种行人模型来识别行人;利用人工势场法进行路径规划,完成自主跟随任务。实验结果表明,应用该方法移动机器人,在有行人干扰或距离行人较近的复杂环境下能够顺利的完成跟随任务。

Other Abstract

To solve the problem of autonomous following of mobile robot in complex environments, an autonomous following method based on depth camera was proposed. An omnidirectional mobile platform with depth camera was built. Pedestrians were detected by extracting the histogram of oriented gradient in the image, and the social force model was used to predict the movement state of pedestrians. Combined with the segmentation color histogram information, apedestrian model was proposed to identify pedestrians. The artificial potential field approach was used to carry out path planning to achieve autonomous following. Experimental results show that the mobile robot can successfully complete the following tasks in the environment of pedestrian interference or close to pedestrians.

Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26298
Collection其他
Corresponding Author任恒乐
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院机器人与智能制造创新研究院
3.中国科学院大学
4.沈阳新松机器人自动化股份有限公司中央研究院
Recommended Citation
GB/T 7714
任恒乐,徐方,邸霈,等. 基于深度相机的移动机器人自主跟随技术[J]. 计算机工程与设计,2020,41(2):562-566.
APA 任恒乐,徐方,邸霈,&田大吉.(2020).基于深度相机的移动机器人自主跟随技术.计算机工程与设计,41(2),562-566.
MLA 任恒乐,et al."基于深度相机的移动机器人自主跟随技术".计算机工程与设计 41.2(2020):562-566.
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