ROS-based human leader and robot follower using a Pioneer 3-DX robot.
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Universidad Industrial de Santander
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Robot Operating System(ROS) proporciona algoritmos y servicios para el control de diferentes tipos de robots. ROS es una herramienta útil en muchos problemas en el campo de los robots autónomos, especialmente en aplicaciones como la cartografía, localización y navegación autónoma en un ambiente interior. La navegación autónoma en un entorno dinámico contempla muchos factores ambientales que afectan el proceso de navegación. El enfoque de este trabajo es desarrollar un sistema modular para llegar a un seguidor humano utilizando un robot PIONEER 3-DX y un sensor Carmine PrimeSense,con el apoyo de hilos por cada pasode procesamiento a través de paquetes desarrollados enROS. Estas etapas se dividen en: búsqueda y ubicacióndel usuario a seguir, estimación de la dinámica del robot, control de velocidades y por último, un módulo de seguridad de evasión de obstáculos.
Robot operating system (ROS) provides algorithms and services to control different kind of robots. ROS is a useful tool in many issues in the field of autonomous robots, especially in applications as mapping, localization and autonomous navigation in an indoor environment. Autonomous navigation in a dynamic environment is not only challenging, but also uncovers many indoor environmental factors which affect the navigation process. The presented work describes how a ROS-Based control system is used with a Pioneer 3-DX robot for a human leader and robot follower system. The approach for this work is develop a modular system to reach a human follower using PIONEER 3-DX and Carmine Prime sense Sensor supported by threads for each processing steps through ROS packages, these stages are divided in: coordinate human acquisition, robot´s pose estimation, angular and linear speed control and obstacles security module.
Robot operating system (ROS) provides algorithms and services to control different kind of robots. ROS is a useful tool in many issues in the field of autonomous robots, especially in applications as mapping, localization and autonomous navigation in an indoor environment. Autonomous navigation in a dynamic environment is not only challenging, but also uncovers many indoor environmental factors which affect the navigation process. The presented work describes how a ROS-Based control system is used with a Pioneer 3-DX robot for a human leader and robot follower system. The approach for this work is develop a modular system to reach a human follower using PIONEER 3-DX and Carmine Prime sense Sensor supported by threads for each processing steps through ROS packages, these stages are divided in: coordinate human acquisition, robot´s pose estimation, angular and linear speed control and obstacles security module.
Keywords
Carmine, control system, human follower, Pioneer, robotics, ROS, Carmine, Pioneer, robótica, ROS, seguidor de personas, sistemas de control