Multidisciplinary Journal of Science and Technology

Using the Kalman Filter to Represent Probabilistic Models for Determining the Location of a Person in Collaborative Robot Working Area

Dmytro Gurin

Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Vladyslav Yevsieiev

Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Amer Abu-Jassar

Faculty of Information Technology, Department of Computer Science, Ajloun National University, Ajloun, Jordan

Svitlana Maksymova

Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Keywords: Industry 5.0, Collaborative Robot, Mobile Robots, Work Area, Computer Vision

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Abstract

The article is devoted to the study of the use of the Kalman filter for the development of probabilistic models for determining the location of a person in collaborative robot working area. The article discusses in detail the mathematical representation of the Kalman filter, including formulas for estimating and predicting system states based on measurements with noise. A software implementation of the Kalman filter was carried out, including the development of an algorithm for processing data from a video camera, which ensures accurate tracking of a person. As part of the research, a series of experiments was conducted to evaluate the effectiveness of the algorithm in real conditions, which confirms its ability to improve the accuracy of location determination and increase the safety of collaborative robots in dynamic environments.

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