Intelligent robotic person following in unstructured environments
نویسندگان
چکیده
The paper describes a scheme based on image identification and fuzzy logic control for following a person by a mobile robot in previously unknown and rough environments. The mobile robot is equipped with a pan-tilt-zoom camera and sonar range sensors. The person detection system uses color and shape of the person to be followed, and provides key characteristics of the person’s image to a fuzzy control scheme. These characteristics are used by fuzzy controllers to determine the actuation signals for the camera pan and tilt, and the robot speed and steering. Experimental results are reported for both indoor locations consisting of tours of labs and hallway, and outdoor environments involving traversal over hills and rough terrain.
منابع مشابه
Intelligent learning and control of autonomous robotic agents operating in unstructured environments
The control of autonomous intelligent robotic agent operating in unstructured changing environments includes many objective difficulties. One major difficulty concerns the characteristics of the environment that the agent should operate in. In unstructured and changing environments the inconsistency of the terrain, the irregularity of the product and the open nature of the working environment r...
متن کاملLearning and adaptation of an intelligent mobile robot navigator operating in unstructured environment based on a novel online Fuzzy-Genetic system
In this paper we present our novel Fuzzy–Genetic techniques for the online learning and adaptation of an intelligent robotic navigator system. Such a system could be used by autonomous mobile vehicles navigating in unstructured and changing environments. In this work we focus on the online learning of the obstacle avoidance behaviour, which is an example of a behaviour that receives delayed rei...
متن کاملExploring the Effect of Obscurants on Safe Landing Zone Identification
Currently, robotic rotorcraft determine landing zones based on visual cues or predetermined GPS waypoints. Missions such as perch-and-stare or cargo delivery demand the ability to detect safe landing zones in unstructured environments. To enable these missions, high fidelity maps can be constructed to assist the robot in locating a place to land. In constructing these maps, realistic problems s...
متن کاملEvaluation of Three Vision Based Object Perception Methods for a Mobile Robot
This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home environments. However, finding a solution for this task is daunting: it requires the ability to handle the variability in image formation in a moving camera ...
متن کاملA Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm
In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on rand...
متن کامل