We present the design and implementation of a multi-input and multi-controller system architecture for mobile robots. The proposed system architecture is divided into interchangeable modular subsystems with common interfaces. The paper details the development of a prototype to test the proposed architecture and the implementation of the architecture with the Robot Operating System. Results from indoor and outdoor experiments are discussed. The prototype is used to demonstrate person following for route teach-and-repeat applications with collision avoidance and controller override.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Mobile robot system architecture for people tracking and following applications


    Beteiligte:
    Olmedo, Nicolas A. (Autor:in) / Zhang, Hong (Autor:in) / Lipsett, Michael (Autor:in)


    Erscheinungsdatum :

    2014-12-01


    Format / Umfang :

    998772 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    People Tracking on a Mobile Companion Robot

    Volkhardt, Michael / Weinrich, Christoph / Gross, Horst-Michael | IEEE | 2013


    Tracking People from a Mobile Platform

    Beymer, David / Konolige, Kurt | Springer Verlag | 2003


    Vision and RFID data fusion for tracking people in crowds by a mobile robot

    Germa, T. / Lerasle, F. / Ouadah, N. et al. | British Library Online Contents | 2010


    Software Architecture of a Mobile Robot

    Muzaffar, Abdul Wahab / Mir, Shumyla Rasheed / Latif, Muhammad et al. | IEEE | 2015


    People tracking in surveillance applications

    Fuentes, L. M. / Velastin, S. A. | British Library Online Contents | 2006