Title :
Implementation of human following mission by using fuzzy head motion control and Q-learning wheel motion control for home service robot
Author :
Ri-Wei Deng ; Yin-Hao Wang ; Chih-Jui Lin ; Li, Tzuu-Hseng S.
Author_Institution :
Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
Abstract :
This paper mainly implements human following function for home service robot, May, developed in our laboratory. In order to follow the operator accurately, visual tracking is composed by Tracing-Learning-Detection (TLD) and Kinect skeleton, where TLD plays the role as re-detecting the situation that operator is occluded or disappeared, and Kinect skeleton is adopted to track all other situations while TLD is learning how to enlarge operator image patterns in order to enhance recognition rates. For the sake of improving tracking capability, fuzzy head motion control is added in the visual tracking system to compensate the constraints that the mobile platform of May cannot react rapidly. Every instant movement of the operator can be captured by fuzzy head motion control in real time. Q-learning is applied to discover the pose switching of the mobile platform such that May possesses more robust following ability. By Q-learning, states setting are based on three dimensional position, actions are created by the pose of four wheel independent steering and four wheel independent driven (4WIS4WID) platform, and rewards are established on state transitions. Finally, both the experimental results in the laboratory and competition consequents of Follow Me Mission in robot@home league at RoboCup Japan Open 2013 Tokyo demonstrate that our robot May can fluently switch its poses to follow operator by utilizing the proposed schemes.
Keywords :
fuzzy control; image recognition; learning (artificial intelligence); mobile robots; motion control; object tracking; robot vision; service robots; steering systems; 4WIS4WID platform; Follow Me Mission in robot@home league; Kinect skeleton; May robot; Q-learning wheel motion control; RoboCup Japan Open 2013 Tokyo; TLD; four wheel independent steering and four wheel independent driven platform; fuzzy head motion control; home service robot; human following mission; operator image patterns; pose switching; recognition rate enhancement; state setting; state transitions; three dimensional position; tracing-learning-detection; visual tracking; visual tracking system; Educational institutions; Head; Mobile communication; Mobile robots; Motion control; Wheels; 4WIS4WD; Home service robot; Q-learning; TLD; fuzzy control;
Conference_Titel :
Fuzzy Theory and Its Applications (iFUZZY), 2013 International Conference on
Conference_Location :
Taipei
DOI :
10.1109/iFuzzy.2013.6825409