Autonomous following indoor omnidirectional mobile robot

Abstract

This paper designed a follow-up indoor omni-directional mobile robot which can achieve any target indoor tracking. Compared with the existing scheme, this robot does not require target to wear specific markers in the autonomous tracking process, and also does not need any auxiliary markers. Only the ordinary camera on the robot body is needed, and the target is tracking by using the Shi-Tomasi algorithm and the Lucas-Kanade algorithm, the cost is relatively low, a wide range of applications. Users can choose their own tracking target of robot, which can be human or object, regardless of the state of tracking the target's movement, the robot can be moved to position away from the target setting. Finally, this paper verifies the feasibility of the system through experiments.