Revista UIS Ingenierías

Vol. 15 No. 2 (2016): Revista UIS Ingenierías
Articles

ROS-based human leader and robot follower using a Pioneer 3-DX robot.

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  • Manuel Alejandro Molina Villa,
  • Daniel Ricardo Avendaño Florez,
  • Leonardo Enrique Solaque Guzman,
  • Nelson Fernando Velasco Toledo,
  • Camilo Andres Pulido Rojas
Manuel Alejandro Molina Villa
Universidad Militar Nueva Granada
Daniel Ricardo Avendaño Florez
Universidad Militar Nueva Granada
Leonardo Enrique Solaque Guzman
Universidad Militar Nueva Granada
Nelson Fernando Velasco Toledo
Universidad Militar Nueva Granada
Camilo Andres Pulido Rojas
Universidad Militar Neuva Granada
Portada RUI 15.2
DOI: https://doi.org/10.18273/revuin.v15n2-2016005

Published 2016-06-08

Keywords

  • Carmine,
  • control system,
  • human follower,
  • Pioneer,
  • robotics,
  • ROS
    • ...More
    Less

How to Cite

Molina Villa, M. A., Avendaño Florez, D. R., Solaque Guzman, L. E., Velasco Toledo, N. F., & Pulido Rojas, C. A. (2016). ROS-based human leader and robot follower using a Pioneer 3-DX robot. Revista UIS Ingenierías, 15(2), 63–71. https://doi.org/10.18273/revuin.v15n2-2016005
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Abstract

Robot operating system (ROS) provides algorithms and services to control different kind of robots. ROS is a useful tool in many issues in the field of autonomous robots, especially in applications as mapping, localization and autonomous navigation in an indoor environment.  Autonomous navigation in a dynamic environment is not only challenging, but also uncovers many indoor environmental factors which affect the navigation process. The presented work describes how a ROS-Based control system is used with a Pioneer 3-DX robot for a human leader and robot follower system. The approach for this work is develop a modular system to reach a human follower using PIONEER 3-DX and Carmine Prime sense Sensor supported by threads for each processing steps  through ROS packages, these stages are divided in: coordinate human acquisition, robot´s pose estimation,  angular and linear speed control and obstacles security module.

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