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http://dx.doi.org/10.5302/J.ICROS.2013.13.1922

Elderly Assistance System Development based on Real-time Embedded Linux  

Koh, Jae-Hwan (HA Control R&D Lab., LG Electronics)
Yang, Gil-Jin (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology)
Choi, Byoung-Wook (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.11, 2013 , pp. 1036-1042 More about this Journal
Abstract
In this paper, an elderly assistance system is developed based on Xenomai, a real-time development framework cooperating with the Linux kernel. A Kinect sensor is used to recognize the behavior of the elderly and A-star search algorithm is implemented to find the shortest path to the person. The mobile robot also generates a trajectory using a digital convolution operator which is based on a Bezier curve for smooth driving. In order to follow the generated trajectory within the control period, we developed real-time tasks and compared the performance of the tracking trajectory with that of non real-time tasks. The real-time task has a better result on following the trajectory within the physical constraints which means that it is more appropriate to apply to an elderly assistant system.
Keywords
xenomai; real-time operating system; Kinect; A-star search algorithm; Bezier curve;
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Times Cited By KSCI : 1  (Citation Analysis)
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