Speed control for smart social navigation via ROS 2

Authors

  • Robinson Jimenez-Moreno Universidad Militar Nueva Granada - (CO), Colombia
  • Ricardo Castillo Universidad Militar Nueva Granada - (CO), Colombia
  • Fabio Osorio Universidad Militar Nueva Granada - (CO), Colombia

DOI:

https://doi.org/10.18687/LACCEI2026.1.1.1331

Keywords:

ROS2, YOLO, velocity control, mobile robot, embedded systems

Abstract

This article presents the development of a vision module for robotic navigation based on people tracking, using ROS2 for speed control via a publisher node embedded in a NVIDIA-Jetson Nano board card and a subscriber node with an ESP32 microcontroller. This integrates the speed control of the mobile device according to the detection distance of a person using a YOLO deep network, to maintain a safe distance between the robot and the user. The training characteristics of the latest YOLO architecture based on version 12 are presented, and PID control is used with a Pololu DC motor with an encoder integrated into the subscriber node, successfully achieving distance control based on the user's proximity to the robot.

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Published

2026-07-27

Issue

Vol. 1 No. 14 (2026): LACCEI 2026

Section

Articles

Copyright

Copyright (c) 2026 LACCEI

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Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

LACCEI retains copyright of all published articles under the terms of its copyright transfer agreement. As the copyright holder, LACCEI distributes the articles to the public under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License (CC BY-NC-SA 4.0).

How to Cite

Jimenez-Moreno, R., Castillo, R., & Osorio, F. (2026). Speed control for smart social navigation via ROS 2. LACCEI, 1(14). https://doi.org/10.18687/LACCEI2026.1.1.1331

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