Development of a Person Following Mobile Robot in Complicated Background by Using Distance and Color Information

摘要

This paper presents a person following mobile robot which follows a target subject while tracking one's back. The developed robot carries out autonomous movement in a real environment based on the information obtained from a loaded stereo camera, a laser ranger sensor, ultrasonic sensors and touch sensors. An image processing method which detects the subject in a complicated background using distance and color information on is proposed. For image processing, a specific person is discovered by the disparity image and color distribution matching by stereo camera. The robot's movement is controlled by the results of the image processing and the information obtained from the various sensors. The proposed image processor is applying to a mobile robot, and the results showed the mobile robot to follow the target subject in a real environment