Reliable person following approach for mobile robot in indoor environment

The ability to track and follow a specific person is a key prerequisite of service mobile robots in indoor environments. A novel following method is introduced, which uses the sizes changes of torso in image as the following control parameters and the fuzzy PID controller is employed to design the f...

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Bibliographic Details
Published in2009 International Conference on Machine Learning and Cybernetics Vol. 3; pp. 1815 - 1821
Main Authors Chun-Hua Hu, Xu-Dong Ma, Xian-Zhong Dai
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2009
Subjects
Fuzzy control
Indoor environments
Mobile robot
Mobile robots
Particle filters
Particle swarm optimization
Particle tracking
Person following
Robustness
Size control
Three-term control
Torso
Vision tracking
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Summary:The ability to track and follow a specific person is a key prerequisite of service mobile robots in indoor environments. A novel following method is introduced, which uses the sizes changes of torso in image as the following control parameters and the fuzzy PID controller is employed to design the following controller. The sizes of torso in images are obtained with mobile robot vision tracking method which integrates the color features of upper body clothes region matching method with the Unscented Particle Filter (UPF) tracking method. In order to reliably follow a specific person, the parameters of the PID controller are adjusted using PSO (Particle Swarm Optimization). Various experiments are carried out and the results demonstrate the robustness and reliability in person-following.
ISBN:9781424437023
1424437024
ISSN:2160-133X
DOI:10.1109/ICMLC.2009.5212354