Autonomous following indoor omnidirectional mobile robot
作者单位：Academy of Electrical and Information EngineeringBeijing University of Civil Engineering and Architecture
会议名称：《第30届中国控制与决策会议》
会议日期：2018年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by the National Natural Science Foundation of China(Grant No.61473027)
关 键 词：Visual tracking Omni-directional mobile robot Corner detection
摘 要：This paper designed a follow-up indoor omni-directional mobile robot which can achieve any target indoor *** 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 *** 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 *** 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 ***,this paper verifies the feasibility of the system through experiments.