Modeling and robust analysis of a fuzzy based person following robot

Alamgir, Tarik Bin and Alfar, Ibrahim Jawad and Rashid, Muhammad Mahbubur (2012) Modeling and robust analysis of a fuzzy based person following robot. In: International Conference on Computer and Communication Engineering (ICCCE 2012), 3-5 July 2012, Seri Pacific Hotel Kuala Lumpur.

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Abstract

Ability to follow and track a person robustly is an essential prerequisite for human-robot-interaction. Such capability has desires, which cannot be met pleasingly using conventional numerical process. Most rigorously, the robot has to stay at a certain safe distance as of the person that is being tracked and concurrently be in motion smoothly which does not seem to be scary to the person. In this research, consequently, a Fuzzy Inference System (FIS) is developed and used as a controller to provide decisions achieving smooth and safe person-following activities. Few approaches have been used to examine the performance of person following robot in smooth tracking and comparing and collating those ultimately an IR based co-ordinate system is used to obtain the tracking features for human robot interaction and the velocity of the person is detected by using ultrasonic sensor which are used to generate the Fuzzy membership function of FIS to control the robot movement. The simulation and result on this research established that even though the detection of IR is subject to minor noise and false negatives, the robot will achieve the smoothness and safety objectives while following its target. In this paper robot modelling and its real time robust analysis is demonstrated for the designed prototype.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	5486/29193 Digital Object Identifier : 10.1109/ICCCE.2012.6271211 Print ISBN: 978-1-4673-0478-8
Uncontrolled Keywords:	fuzzy inference system , fuzzy membership function , person detection , person following and safety
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr Muhammad Rashid
Date Deposited:	24 Feb 2013 08:35
Last Modified:	26 Feb 2013 10:06
URI:	http://irep.iium.edu.my/id/eprint/29193

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