3D sensor-based Moving Human Tracking Robot with Obstacle Avoidance

This paper, represents a design constituting of a robot that uses an Arduino to drive motors enabling it to move around the room in a direction determined by a Processing sketch that uses the Kinect to scan the room and determine where the robot should move. The design works by tracking the center of mass of a human having a skeleton, and avoiding obstacles that interfere it` s movement. The approach used in this system is attaching the computer and Kinect to the robot so that its vision system can move along with it as it explores the space. To accomplish this, a toy car was used as a robot in order to support the weight of a laptop or other small computer as well as the Kinect.