| Summary: | 碩士 === 國立中正大學 === 光機電整合工程所 === 96 === The goal of this research is to develop a human tracking system for robotic. In order to get the people localization, the system uses wireless communication Zigbee module which is base on IEEE 802.15.4 convention and PIR sensor system to get the information of distance and orientation, respectively.
The signal of wireless communication is easy affect by the environment, so using RSSI detects the distance have an imperfection which limited by physic character. The PIR sensor system also has the inaccuracy on the data of orientation. We use Kalman Filter fuse those data which are distance and direction to get more accurate data of localization.
Compared with thermal imager [1], our system is more inexpensive, because our system just needs some PIR sensor, sample circuit and microcontroller. Our system request less computation than thermal imager, because the work mode of thermal imager is recording all the infrared temperature of object, our system is recording the change infrared temperature of object.
Our system combines RSSI technology and PIR system by using Kalman filter to improve the accuracy of the human’s localization. According to our experiment result, Kalman filter is useful for the path estimated.
|
|---|
