Kinect camera sensor-based object tracking and following of four wheel independent steering automatic guided vehicle using Kalman filter
Amruta Vinod Gulalkari, Dongbo Sheng, Pandu Sandi Pratama, Hak Kyeong Kim, Gi–Sig Byun, Sang Bong Kim · 2015
This paper presents a Kinect camera sensor-based object tracking and following system for the four wheel independent steering automatic guided vehicle (4WIS-AGV) using Kalman filter and backstepping control method. To accomplish this task, the following steps are executed: Firstly, a blue colored object is detected by the Kinect camera sensor using a color-based object detection method and its center coordinates inside the RGB image frames are obtained. The global position coordinates of the detected object and the 4WIS-AGV are obtained using Kinect depth data and NAV200 navigation system. Secondly, a Kalman filter is used to estimate the global position and velocity coordinates of the detected moving object. Thirdly, a backstepping control method using Lyapunov function is adopted for the 4WIS-AGV to perform the object following task. Finally, simulation and experiment are performed to verify the effectiveness of the proposed system. The results show that the 4WIS-AGV with Kinect camera sensor can follow the moving object well with the designed controller.