Speed control for smart social navigation via ROS 2

Resumen

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.