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ROS (Robot Operating System) based robot automatic following method

An operating system and automatic following technology, applied in two-dimensional position/channel control and other directions, can solve the problems of low pedestrian recognition accuracy and insufficient lidar features

Active Publication Date: 2017-10-20
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings of the traditional vision-based and lidar-based robot automatic follow technology, and proposes a robot automatic follow method based on the ROS robot operating system, which uses a method of resampling within a certain period of time to solve the problem of laser radar Insufficient features and low accuracy of pedestrian recognition are realized by using the ROS robot operating system, and the ROS Navigation framework is reasonably used to enable the robot to have certain path planning and obstacle avoidance capabilities in the automatic following process

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  • ROS (Robot Operating System) based robot automatic following method
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  • ROS (Robot Operating System) based robot automatic following method

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Embodiment Construction

[0065] The present invention will be further described below in conjunction with specific embodiments.

[0066] The robot automatic following method based on the ROS robot operating system provided by this embodiment comprises the following steps:

[0067] 1) Sensor data processing: use lidar to collect data, preprocess the data, remove those data that exceed the preset range, and limit the data to the range of [min_size, max_size]:

[0068] min_size≤data_useful≤max_size

[0069] Among them, min_size and max_size represent the minimum and maximum lidar data respectively, and data_useful represents valid data;

[0070] Use the tf framework of ROS to convert the collected data from the coordinate system tf / laser to the global coordinate system tf / base_link, scan represents the data type in the lidar coordinate system tf / laser, and detect_data represents the global coordinate system tf / base_link The data type of:

[0071]

[0072] 2) Data clustering: use hierarchical cluste...

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Abstract

The invention discloses an ROS (Robot Operating System) based robot automatic following method. According to the method, data is acquired by adopting a laser radar, preprocessing is performed on the data, the data is clustered by using a hierarchical clustering algorithm, a pedestrian double-leg model is taken as a pedestrian recognition feature, the position between the legs represents the pedestrian position, and a defect that the laser radar is not obvious in feature and low in recognition rate is solved by a method of resampling. The automatic following method is implemented by reasonably utilizing an ROS, message transfer and function implementation between the parts are facilitated, and a navigation framework of the ROS is utilized to enable a robot to have a certain navigation obstacle avoidance ability in the automatic following process.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method for automatically following a robot based on a ROS robot operating system. Background technique [0002] In recent years, robot technology has developed rapidly and achieved amazing results. More and more robots have replaced humans and played an irreplaceable role in various fields. Especially with the arrival of the artificial intelligence (AI) era, many new types of robots have emerged as the times require. For example, home service robots, shopping guide robots, sweeping robots, etc. Robot technology has become one of the important technologies to promote the development of human progress. Robot automatic following function is an important aspect of robot technology, and it is required to have automatic following function in many applications. For example, home service robots, shopping guide robots, etc. Therefore, it is of great significance to study the r...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 田联房郑灿涛杜启亮陈浩权
Owner SOUTH CHINA UNIV OF TECH
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