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http://dx.doi.org/10.7471/ikeee.2020.24.2.638

The Technique of Human tracking using ultrasonic sensor for Human Tracking of Cooperation robot based Mobile Platform  

Yum, Seung-Ho (Dept. of Electronics Engineering, Korea Polytechnic University)
Eom, Su-Hong (Dept. of Electronics Engineering, Korea Polytechnic University)
Lee, Eung-Hyuk (Dept. of Electronics Engineering, Korea Polytechnic University)
Publication Information
Journal of IKEEE / v.24, no.2, 2020 , pp. 638-648 More about this Journal
Abstract
Currently, the method of user-follwoing in intelligent cooperative robots usually based in vision system and using Lidar is common and have excellent performance. But in the closed space of Corona 19, which spread worldwide in 2020, robots for cooperation with medical staff were insignificant. This is because Medical staff are all wearing protective clothing to prevent virus infection, which is not easy to apply with existing research techniques. Therefore, in order to solve these problems in this paper, the ultrasonic sensor is separated from the transmitting and receiving parts, and based on this, this paper propose that estimating the user's position and can actively follow and cooperate with people. However, the ultrasonic sensors were partially applied by improving the Median filter in order to reduce the error caused by the short circuit in communication between hard reflection and the number of light reflections, and the operation technology was improved by applying the curvature trajectory for smooth operation in a small area. Median filter reduced the error of degree and distance by 70%, vehicle running stability was verified through the training course such as 'S' and '8' in the result.
Keywords
Target Trajectory; Following Robot; supersonic transducers; Median Filter; Medicine Cart;
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Times Cited By KSCI : 6  (Citation Analysis)
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