采用 Kinect 的移动机器人目标跟踪与避障

摘要

In order to get a better understanding of the obstacle avoidance of a mobile robot when it is tracking a tar -get, we used Kinect to take the place of the traditional range radar and camera .Because of the existence of a blind area and noise when using Kinect , a kind of local map updating method based on statistical theory was proposed , through the utilization of a dynamically updated local map , the information of an obstacle possibly affecting the mo-tion of the robot was maintained , in addition , by collecting information of statics , the influence of the range noise was eliminated , so to assure the validity of the obstacle information .Simultaneously , the artificial potential field method increasing the safe area was applied to remove the information of an obstacle not disturbing the motion of the robot, so as to improve the ability of the mobile robot to pass through a narrow passage by the traditional artificial potential field method .The experiment used on a mobile robot with differential drive shows that , this system may re-alize target tracking and obstacle avoidance in a proper manner; the Kinect may take the place of the traditional range sensor .%为实现移动机器人在目标跟踪的同时进行避障，采用Kinect代替传统的测距雷达和摄像机。针对Kinect在使用中存在盲区和噪声的问题，提出一种基于统计的局部地图更新方法，利用动态更新的局部地图保存可能影响机器人运动的障碍物信息，并通过统计信息来消除测距噪声的影响，确保障碍物信息的有效性。同时使用增加安全区域的人工势场法去除对移动机器人运动无干扰的障碍物信息，改善了传统人工势场法通过狭窄通道的能力。在差动驱动移动机器人的实验证实了此系统能够很好地完成跟踪与避障任务，结果表明，使用Kinect可以代替传统测距传感器。