Linear-Quadratic Regulator Control for Human Following Robot in Straight Path
نویسندگان
چکیده
the paper presents the design of controller for wheeled mobile robots (WMRs) which continuously follows humans indoors in straight path only. This task uses computer vision in the controller feedback loop and is referred to as vision-based control or visual servo control. Typically, visual servo techniques can be categorised into image based visual servoing (IBVS) and position-based visual servoing (PBVS). The paper discusses Image based visual servoing approaches for following human in an indoor environment.The Robotics system used here consists of camera for extracting the image features. A suitable control law is developed which can learn the robot behaviour policy and autonomously improve its performance to achieve the smooth and efficient travel path towards the object of interest.
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تاریخ انتشار 2014