Design and implementation of fuzzy based person following mobile robot

Rashid, Muhammad Mahbubur and Shafie, Amir Akramin and Alamgir, Tarik Bin (2011) Design and implementation of fuzzy based person following mobile robot. In: International Conference on Mechatronics and Materials Engineering (ICMME 2011), 10-12 December 2011, Qiqihar. (Unpublished)

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Abstract

Tracking a person successfully and following robustly is a significant ability that requires to be overwhelmed by a service robot while it requires completing some human-related tasks. Such capability has desires, which cannot be met pleasingly using conventional numerical process. Most remarkably, the robot has to stay at a certain safe distance as of the person that is being tracked and simultaneously be in motion in a smooth way which does not seem to be frightening to the person. In this project report, consequently, a Fuzzy Inference System (FIS) is developed and used as a controller to provide decisions achieving smooth and safe person-following activities. The Fuzzy system is made to work in combination with a Optoelectronic (IR) sensor detection algorithm which acquire the position in using co-ordinate system and the velocity of the person is detected by using ultrasonic sensor and these are used to generate the Fuzzy Inference System distance and velocity information necessary for the control process. The simulation and result on this project 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. An example with a mobile robot tracking a person demonstrates the performance of our approach.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	5486/15085
Uncontrolled Keywords:	Fuzzy membership function, Fuzzy inference system, Person detection, Person following and Safety.
Subjects:	T Technology > T Technology (General) > T11.95 Industrial directories
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr Muhammad Rashid
Date Deposited:	16 Jan 2012 16:29
Last Modified:	16 Jan 2012 16:29
URI:	http://irep.iium.edu.my/id/eprint/15085

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