本論文旨在應用 Kinect 影像攝影機實現人員跟隨之移動機器人，使移動機器人能夠於室內環境跟隨特定的人員。首先，利用 Kinect 找出人體的骨架，接著對比出預設啟動手勢之操作員進行上衣顏色訊息之紀錄。而移動機器人會根據操作人員的上衣顏色訊息進行影像辨識，並將此顏色設為跟隨目標。然後以 Kinect 深度資訊及相對於相機之三維座標系統，計算與目標之相對距離及方向角度，並據此計算機器人移動命令，並整合雷射測距儀以實現避障功能。最後，經由閉迴路 PI 速度控制器，控制移動機器人自動地跟隨特定操作人員。

This thesis aims to an implement human-following robot equipped with Kinect sensor, so that the mobile robot can follow the specific person in the indoor environment. Kinect sensor was used to detect the skeleton of the human body. The operator was defined by the one who started with a default gestures, and the color of its upper outer garment was recorded. The color of the upper outer garment was defined as the following target, so that the robot would follow the one who dressed in the target color. And the relative distance and direction of angle to the target were calculated by the depth information and Kinect camera’s Cartesian coordinate. And an integrating LRF was used to avoid the obstacle from surroundings. In the experimental result, the mobile robot which controlled by closed loop PI controller could follow the target person automatically.

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