Robotics human tracking system through wireless pyroelectric sensor system

摘要

This paper present a human tracking system using pyroelectric sensor and radio frequency signal to detect the motion of people in front of robot. A prototype system contains 4 pyroelectric sensor elements that are able to detect the angular displacement of the moving human body. And we also use a tag which contains ZigBee radio frequency (RF) transceiver as body sensor network element. We can use this tag to identify the user and locate the user through radio frequency localization technology. With the pyroelectric angular and RF distance message, we can apply two signals into Kalman tracking scheme to trace the trajectory of user accurately (improved displacement error 21% from 1.01 m reduce to 0.79 m). We have developed a prototype wireless pyroelectric sensing system on mobile robot. After process the pyroelectric signals, we can successfully convert those signals into angular and distance displacement with respect to pyroelectric sensor and radio frequency localization method.