Target-following Robotic Platform Based on UWB Localization and Depth Camera

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F24%3A10256363" target="_blank" >RIV/61989100:27240/24:10256363 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.sciencedirect.com/science/article/pii/S2405896324004932?pes=vor&utm_source=scopus&getft_integrator=scopus" target="_blank" >https://www.sciencedirect.com/science/article/pii/S2405896324004932?pes=vor&utm_source=scopus&getft_integrator=scopus</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.ifacol.2024.07.404" target="_blank" >10.1016/j.ifacol.2024.07.404</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Target-following Robotic Platform Based on UWB Localization and Depth Camera

Popis výsledku v původním jazyce

A mobile robot capable of following a specified target using Ultra-Wideband (UWB) technology and an RGB-D camera is presented in this paper. One of our primary objectives is to promote the use of UWB as a precise and fast real-time localization system (RTLS) in mobile robotics, specifically the target following applications using the approach of non-fixed anchors. We use the depth camera as a complementary sensor to the omnidirectional UWB, to increase the robot&apos;s awareness of its surroundings and possibly also as a way of providing human-machine interaction. This paper also describes creating a simplified mathematical model for computing the control action and the method we have used to measure the system&apos;s rotational dynamics for system identification purposes. Thereafter, we combined a PD controller and proportional virtual spring regulation and selected parameters of the compound regulator to slowly pursue a non-linear movement of the followed person. Our robotic platform is originally meant to carry a toolbox and equipment. However, it might be just as well used in various applications such as material handling in industrial and manufacturing settings, as an assistive technology for load handling in warehouses, construction sites, even carrying airline baggage or military equipment. Most countries implement regulations regarding lifting and carrying loads that are even more strict in case of repetitive or long-term use. Therefore, using a robotic platform in such cases might be convenient.

Název v anglickém jazyce

Target-following Robotic Platform Based on UWB Localization and Depth Camera

Popis výsledku anglicky

A mobile robot capable of following a specified target using Ultra-Wideband (UWB) technology and an RGB-D camera is presented in this paper. One of our primary objectives is to promote the use of UWB as a precise and fast real-time localization system (RTLS) in mobile robotics, specifically the target following applications using the approach of non-fixed anchors. We use the depth camera as a complementary sensor to the omnidirectional UWB, to increase the robot&apos;s awareness of its surroundings and possibly also as a way of providing human-machine interaction. This paper also describes creating a simplified mathematical model for computing the control action and the method we have used to measure the system&apos;s rotational dynamics for system identification purposes. Thereafter, we combined a PD controller and proportional virtual spring regulation and selected parameters of the compound regulator to slowly pursue a non-linear movement of the followed person. Our robotic platform is originally meant to carry a toolbox and equipment. However, it might be just as well used in various applications such as material handling in industrial and manufacturing settings, as an assistive technology for load handling in warehouses, construction sites, even carrying airline baggage or military equipment. Most countries implement regulations regarding lifting and carrying loads that are even more strict in case of repetitive or long-term use. Therefore, using a robotic platform in such cases might be convenient.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2024

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

IFAC-PapersOnLine. Volume 58, Issue 9

ISBN

—

ISSN

2405-8963

e-ISSN

2405-8963

Počet stran výsledku

6

Strana od-do

247-252

Název nakladatele

Publish by Elsevier B.V.

Místo vydání

Oxford

Místo konání akce

Brno

Datum konání akce

19. 6. 2024

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001296083700043