Kinect based control of a Mobile Robot

Gürkan Küçükyıldız, Suat Karakaya

In this study Kinect based control of a mobile robot system was examined. A mobile robot platform was developed for his purpose and developed algorithms were tested on this platform in real time. Mobile robot was actuated by DC Motors. Frames captured from Kinect sensor, which was placed in front of the mobile robot, was processed in Visual Studio C# environment by developed image processing algorithm.  Distance between Kinect sensor and detected skeleton was gathered by developed image processing algorithm. Results were sent to developed control card via serial port.  Developed control card controlled actuators PD speed control algorithm. At result, it was observed that developed system is operating successfully and  follows the skeleton successfully.

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