Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter

摘要

The precise localization of human operators in robotic workplaces is an important requirement to be satisfied in order to develop human-robot interaction tasks. Human tracking provides not only safety for human operators, but also context information for intelligent human-robot collaboration. This paper evaluates an inertial motion capture system which registers full-body movements of an user in a robotic manipulator workplace. However, the presence of errors in the global translational measurements returned by this system has led to the need of using another localization system, based on Ultra-WideBand (UWB) technology. A Kalman filter fusion algorithm which combines the measurements of these systems is developed. This algorithm unifies the advantages of both technologies: high data rates from the motion capture system and global translational precision from the UWB localization system. The developed hybrid system not only tracks the movements of all limbs of the user as previous motion capture systems, but is also able to position precisely the user in the environment.