Detection and Following of Moving Targets by an Indoor Mobile Robot using Microsoft Kinect and 2D Lidar Data

摘要

The mobile robot following behavior is frequently considered as an important pre-requisite while developing autonomous service robots intended to co-exist with humans in a shared environment. It can also simplify the development of autonomous navigation and obstacle avoidance behavior as well as the robot ability to operate within multi-agent formations. In this investigation, an approach is proposed that allows a KUKA youBot omnidirectional mobile platform to detect and follow people carrying different objects, such as suitcases, in a shared indoor environment. Using a Kinect sensor, the mobile robot can recognize standing human with a suitcase and will begin to consider him as a potential dynamic target. The 2D lidar of the mobile platform can further detect when the above target starts to move and will begin to track it. Meanwhile, the robot will start following the human by controlling its own velocity while maintaining a pre-specified orientation and distance.