IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
권호 표지
DOI QR코드

DOI QR Code

Development of Human Following Method of Mobile Robot Using QR Code and 2D LiDAR Sensor

QR 2D 코드와 라이다 센서를 이용한 모바일 로봇의 사람 추종 기법 개발

  • Received : 2019.10.03
  • Accepted : 2020.01.21
  • Published : 2020.02.29
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose a method to keep the robot at a distance of 30 to 45cm from the user in consideration of each individual's minimum area and inconvenience by using a 2D LiDAR sensor LDS-01 as the secondary sensor along with a QR code. First, the robot determines the brightness of the video and the presence of a QR code. If the light is bright and there is a QR code due to human's presence, the range of the 2D LiDAR sensor is set based on the position of the QR code in the captured image to find and follow the correct target. On the other hand, when the robot does not recognize the QR code due to the low light, the target is followed using a database that stores obstacles and human actions made before the experiment using only the 2D LiDAR sensor. As a result, our robot can follow the target person in four situations based on nine locations with seven types of motion.

Keywords

Acknowledgement

Supported by : 산업통상자원부

본 논문은 산업통상자원부의 산업기술혁신사업으로 수행 된 연구의 결과물입니다(No.10062368).

References

  1. E.T.Hall., The Hidden Dimension. Doubleday, New York, 1966.
  2. J.M. Cho, S.S. Kang, K.K. Kim, "Object Recognition and Pose Estimation Based on Deep Learning for Visual Servoing," Journal of Korea Robotics Society, Vol. 14, No. 1, pp. 1-7, 2019 (in Korean). https://doi.org/10.7746/jkros.2019.14.1.001
  3. J.H. Oh, B.H. Lee, "Condition-invariant Place Recognition Using Deep Convolutional Auto-encoder," Journal of Korea Robotics Society, Vol. 14, No. 1, pp. 8-13, 2019 (in Korean). https://doi.org/10.7746/jkros.2019.14.1.008
  4. T.Y. Ko, H.Y. Lee, S.T. Ra, D.H. Kwak, J.C. Park, J.H. Kim, Y.J. Lee, S.H. Lee, "Real-time Face Recognition and Tracking System Using Deep Learning in Various Environments," Proceedings of the Institute of Electronics and Information Engineers Conference, pp. 643-646, 2017 (in Korean).
  5. H. Zhang, C. Zhang, W. Yang C. Chen, "Localization and Navigation Using QR Code for Mobile Robot in Indoor Environment," Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2501-2506, 2015.
  6. Y.K. Lee, H. Yoo, "QR-code Finder Recognition Using Four Directional Scanning Method," Journal of the Korea Institute of Information and Communication Engineering, Vol. 16, No. 6, pp. 1187-1192, 2012 (in Korean). https://doi.org/10.6109/jkiice.2012.16.6.1187
  7. U.S. Kim, B.S. Kim, I.S. Kim "Implementation of Serving Mobile Robot Using ROS," Journal of Korean Institute of Information Technology, Vol. 17, No. 2, pp. 33-43, 2019 (in Korean). https://doi.org/10.14801/jkiit.2019.17.2.33
  8. Avaliable on : http://github.com/ROBOTIS-GIT/turtlebot3_applications
  9. Avaliable on : http://wiki.ros.org/uvc_camera
  10. D.G. Yoo, T.L. Song, D.S. Kim, "Track-to-track Information Fusion Using 2D and 3D Radars," Journal of Institute of Control, Robotics and Systems, Vol. 18, No. 9, pp. 863-870, 2012 (in Korean). https://doi.org/10.5302/J.ICROS.2012.18.9.863
  11. E.K. Kim, H.H. Cho, J.G. Kim, S.S. Kim, "Brightness Adjustment Method Using Control Function Based on Gaussian Distribution and Brightness Information," Journal of Korean Institute of Intelligent Systems, Vol. 27, No. 5, pp. 382-387, 2017 (in Korean). https://doi.org/10.5391/JKIIS.2017.27.5.382
  12. Y. Nitta, S. Tamura, H. Takase, "A Study on Introducing FPGA to ROS Based Autonomous Driving System," Proceedings of International Conference on Field-Programmable Technology (FPT), pp. 421-424, 2018.
  13. M.G. Song, D.H. Son, N.C. Park, K.S. Park, Y.P. Park, "Improvement of Dynamic Characteristics of an Optical Image Stabilizer in a Compact Camera," Journal of the Korean Society for Noise and Vibration Engineering (KSNVE), Vol. 21, No. 2, pp. 178-185, 2011 (in Korean). https://doi.org/10.5050/KSNVE.2011.21.2.178