Accompanist detection and following for wheelchair robots with fuzzy controller

Bing-Fei Wu*, Cheng Lung Jen, Tai Yu Tsou, Wun Fang Li, Pin Yi Tseng

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

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.

Original languageEnglish
Title of host publication2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012
Pages638-643
Number of pages6
StatePublished - 27 Nov 2012
Event2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 - Tokyo, Japan
Duration: 18 Sep 201221 Sep 2012

Publication series

Name2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012

Conference

Conference2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012
Country/TerritoryJapan
CityTokyo
Period18/09/1221/09/12

Fingerprint

Dive into the research topics of 'Accompanist detection and following for wheelchair robots with fuzzy controller'. Together they form a unique fingerprint.

Cite this