Development of the Human Following Robot Control System Using HD Webcam

摘要

Recently, robot is widely used in many applications to support human, especially in industrial application. The mobile robot is used for transporting of raw materials or goods between different locations. Human following robot, which is the one of mobile robot type, is used for tracking target by detection through attached the device such as sensor or camera. Then, the information is sent to the PC or laptop to command the robot movement. However, the large size and high weight of PC or laptop affect the performance of robot movement. In this work, Raspberry Pi is used as processor instead of PC or laptop to control the human following robot by receiving the information from HD webcam. HD webcam is used to tracking colors, which are on the human target. The tracking colors, which are red, blue, and green, are depended on the program setting. OpenCV library is used to connect between HD webcam and Raspberry Pi and enhance the performance of the library working and processor of the Raspberry Pi. Afterwards, human following robot is used to track the human target in various movements with a space between human target and human following robot. According to the results, Raspberry Pi can operate like PC or laptop as processor and improve the movement of the human following robot.