Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Elderly Assistance System Development based on Real-time Embedded Linux

실시간 임베디드 리눅스 기반 노약자 지원 로봇 개발

  • Koh, Jae-Hwan (HA Control R&D Lab., LG Electronics) ;
  • Yang, Gil-Jin (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Choi, Byoung-Wook (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology)
  • 고재환 (LG전자 주식회사) ;
  • 양길진 (서울과학기술대학 전기공학과) ;
  • 최병욱 (서울과학기술대학 전기정보공학과)
  • Received : 2013.05.22
  • Accepted : 2013.08.22
  • Published : 2013.11.01
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Abstract

In this paper, an elderly assistance system is developed based on Xenomai, a real-time development framework cooperating with the Linux kernel. A Kinect sensor is used to recognize the behavior of the elderly and A-star search algorithm is implemented to find the shortest path to the person. The mobile robot also generates a trajectory using a digital convolution operator which is based on a Bezier curve for smooth driving. In order to follow the generated trajectory within the control period, we developed real-time tasks and compared the performance of the tracking trajectory with that of non real-time tasks. The real-time task has a better result on following the trajectory within the physical constraints which means that it is more appropriate to apply to an elderly assistant system.

Keywords

References

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