Title :
Accompanist detection and following for wheelchair robots with fuzzy controller
Author :
Wu, Bing-Fei ; Jen, Cheng-Lung ; Tsou, Tai-Yu ; Li, Wun-Fang ; Tseng, Pin-Yi
Author_Institution :
Inst. of Electr. & Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Abstract :
Human-robot interaction is an important issue for service robots. In this paper, we propose to utilize the multisensory data fusion to autonomously detect and track an accompanist as a target person in the surroundings of the mobile robot. First, we use laser range finder to detect the target person features which is characterized using distances and orientations from range sensor readings. Based on the sensor information and the desired tracking position, a fuzzy based tracking controller is proposed to follow the accompanist. In addition, the obstacle avoidance strategy is also embedded into the following controller to mitigate disturbances or interferences in dynamical environment when robot is performing a following task simultaneously. If the accompanist is missed, a recognition process based on a pan-tilt-zoom camera and observed images will be used to search the target person again. Experimental results demonstrated the validation and feasibility of the proposed system.
Keywords :
collision avoidance; fuzzy control; human-robot interaction; laser ranging; mobile robots; object detection; position control; robot dynamics; robot vision; sensor fusion; service robots; accompanist detection; disturbances mitigation; dynamical environment; following controller; fuzzy based tracking controller; human-robot interaction; interferences mitigation; laser range finder; mobile robot; multisensory data fusion; observed images; obstacle avoidance strategy; pan-tilt-zoom camera; position tracking; range sensor readings; recognition process; service robots; target person feature detection; wheelchair robots; Image recognition; Lasers; Mobile communication; Mobile robots; Robot sensing systems; Tracking;
Conference_Titel :
Advanced Mechatronic Systems (ICAMechS), 2012 International Conference on
Conference_Location :
Tokyo
Print_ISBN :
978-1-4673-1962-1