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
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