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http://dx.doi.org/10.6109/jkiice.2013.17.5.1070

Robot Navigation Control using Laserscanner to Restrict Human Movement  

Jin, Tae-Seok (동서대학교 메카트로닉스공학과)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.17, no.5, 2013 , pp. 1070-1075 More about this Journal
Abstract
In this research, we describe a security robot system and ongoing research results to control human's wrong direction in order to forbid human to enter security zone. Proposed robot system surveils a security area with equipped laserscanner sensor usually. When it detect walking human who is for the area, robot calculates his velocity vector, plans own path to forestall and interrupts him who want to head restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto an scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving the robot continues these processes for adapting change of situation. After arriving at an opposite position human's walking direction, the robot advises him not to be headed more and change his course. The experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.
Keywords
robot navigation; laserscanner; recognition; tracking; kinematics;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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