INTELLIGENT ROBOTIC PERSON FOLLOWING IN UNSTRUCTURED ENVIRONMENTS

Mahmoud Tarokh, John Kuo

Abstract

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.

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Paper Citation


in Harvard Style

Tarokh M. and Kuo J. (2005). INTELLIGENT ROBOTIC PERSON FOLLOWING IN UNSTRUCTURED ENVIRONMENTS . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 101-106. DOI: 10.5220/0001166601010106


in Bibtex Style

@conference{icinco05,
author={Mahmoud Tarokh and John Kuo},
title={INTELLIGENT ROBOTIC PERSON FOLLOWING IN UNSTRUCTURED ENVIRONMENTS},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={101-106},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001166601010106},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - INTELLIGENT ROBOTIC PERSON FOLLOWING IN UNSTRUCTURED ENVIRONMENTS
SN - 972-8865-30-9
AU - Tarokh M.
AU - Kuo J.
PY - 2005
SP - 101
EP - 106
DO - 10.5220/0001166601010106