RELIABLE PERSON FOLLOWING APPROACH FOR MOBILE ROBOT IN INDOOR ENVIRONMENT

被引：7
|
作者：
Hu, Chun-Hua [1 ]
Ma, Xu-Dong [2 ]
Dai, Xian-Zhong [2 ]
机构：
[1] Jiangsu Teacher Univ Technol, Dept Telecommun, Changzhou, Jiangsu Prov, Peoples R China
[2] Southeast Univ, Sch Automat, Nanjing, Jiangsu, Peoples R China
来源：
PROCEEDINGS OF 2009 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-6 | 2009年
关键词：
Mobile robot; Vision tracking; Person following;
D O I：
10.1109/ICMLC.2009.5212354
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The ability to track and follow a specific person is a key prerequisite of service mobile robots in indoor environments. A novel following method is intorduced, which uses the sizes changes of torso in image as the following control parameters and the fuzzy PID controller is employed to design the following controller. The sizes of torso in images are obtained with mobile robot vision tracking method which integrates the color features of upper body clothes region matching method with the Unscented Particle Filter (UPF) tracking method. In order to reliably follow a specific person, the parameters of the PID controller are adjusted using PSO (Particle Swarm Optimization). Various experiments are carried out and the results demonstrate the robustness and reliability in person-following.
引用
收藏
页码：1815 / +
页数：3
相关论文
共 50 条
  • [31] An Approach to 3D SLAM for a Mobile Robot in Unknown Indoor Environment towards Service Operation
    Zhang, Shoulong
    Qin, Shiyin
    2018 CHINESE AUTOMATION CONGRESS (CAC), 2018, : 2101 - 2105
  • [32] Person tracking with a mobile robot using particle filters in complex environment
    Kwon, HS
    Kim, YJ
    Lim, MT
    ICMIT 2005: CONTROL SYSTEMS AND ROBOTICS, PTS 1 AND 2, 2005, 6042
  • [33] Reflective Collision Avoidance for Mobile Service Robot in Person Coexistence Environment
    Sonoura, Takafumi
    Tokura, Seiji
    Tasaki, Tsuyoshi
    Ozaki, Fumio
    Matsuhira, Nobuto
    JOURNAL OF ROBOTICS AND MECHATRONICS, 2011, 23 (06) : 999 - 1011
  • [34] The reliable recovery mechanism for person-following robot in case of missing target
    Minh Do Hoang
    Yun, Sang-Seok
    Choi, Jong-Suk
    2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2017, : 800 - 803
  • [35] The investigation of an autonomous intelligent mobile robot system for indoor environment navigation
    付宜利
    Journal of Harbin Institute of Technology, 2001, (02) : 129 - 134
  • [36] Development of an Indoor Delivery Mobile Robot for a Multi-Floor Environment
    Kim, Taejin
    Kang, Gyuree
    Lee, Daegyu
    Shim, D. Hyunchul
    IEEE ACCESS, 2024, 12 : 45202 - 45215
  • [37] Scene perception based visual navigation of mobile robot in indoor environment
    Ran, T.
    Yuan, L.
    Zhang, J. B.
    ISA TRANSACTIONS, 2021, 109 : 389 - 400
  • [38] Autonomous Mobile Robot Navigation Using Passive RFID in Indoor Environment
    Park, Sunhong
    Hashimoto, Shuji
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2009, 56 (07) : 2366 - 2373
  • [39] Localization and navigation using QR code for mobile robot in indoor environment
    Zhang, Huijuan
    Zhang, Chengning
    Yang, Wei
    Chen, Chin-Yin
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2015, : 2501 - 2506
  • [40] Gray-dynamic EKF for Mobile Robot SLAM in Indoor Environment
    Wang, Peng
    Zhang, Qibin
    Chen, Zonghai
    PROCEEDINGS OF THE 2013 6TH IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS (RAM), 2013, : 43 - 48
12345