Trajectory System of Human-Following Robot Pioneer-3AT using Internet of Things
Abstract— In this paper, a human-following robot based on GPS, IMU and a RGB - D (Kinect) sensor by Extended Kalman Filter are developed for tracking and following target(human) who carried wearable devices (GPS + IMU). The mobile robot to follow a person is developing rapidly, because this technolo...
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| Format: | Theses |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/36727 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Abstract— In this paper, a human-following robot based on GPS, IMU and a RGB - D (Kinect) sensor by Extended Kalman Filter are developed for tracking and following target(human) who carried wearable devices (GPS + IMU). The mobile robot to follow a person is developing rapidly, because this technology is needed to stay alongside humans in homes or in workplaces or wherever people want to go and also can bring food and belongings autonomously. This ability can be provided by Extended Kalman Filter to produce better localization and better estimation position and orientation and RGB-D camera to guide in closer distance between target and robot. In this research, the communication between leader (human) and mobile robot using Internet of Things with MQTT and Wearable sensors using Arduino 101+ GPS and Intel Edison as a broker. Trajectory between human and mobile robot will be send sent in IoT based GPS location into cloud server hosting with Hive MQTT. |
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