FORMATION CONTROL BETWEEN A HUMAN AND A MOBILE ROBOT BASED ON STEREO VISION

Flávio Garcia Pereira, Marino Frank Cypriano, Raquel Frizera Vassallo

Abstract

This paper presents a reactive nonlinear formation control between a human and a mobile robot based on stereo vision. The human, who is considered the leader of the formation, is positioned behind the robot and moves around the environment while the robot executes movements according to human movements. The robot has a stereo vision system mounted on it and the images acquired by this system are used to detect the human face and estimate its 3D coordinates. These coordinates are used to determine the relative pose between the human and robot, which is sent to the controller in order to allow the robot to achieve and keep a desired formation with the human. Experimental results were performed with a human and a mobile robot, the leader and follower respectively, to show the performance of the control system. In this paper a load was put on a mobile robot in which the nonlinear controller was applied, allowing the transportation of this load from a initial point to a desired position. In order to verify the proposed method some experiments were performed and shown in this paper.

References

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Paper Citation


in Harvard Style

Garcia Pereira F., Frank Cypriano M. and Frizera Vassallo R. (2010). FORMATION CONTROL BETWEEN A HUMAN AND A MOBILE ROBOT BASED ON STEREO VISION . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 135-140. DOI: 10.5220/0002880601350140


in Bibtex Style

@conference{icinco10,
author={Flávio Garcia Pereira and Marino Frank Cypriano and Raquel Frizera Vassallo},
title={FORMATION CONTROL BETWEEN A HUMAN AND A MOBILE ROBOT BASED ON STEREO VISION},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={135-140},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002880601350140},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - FORMATION CONTROL BETWEEN A HUMAN AND A MOBILE ROBOT BASED ON STEREO VISION
SN - 978-989-8425-01-0
AU - Garcia Pereira F.
AU - Frank Cypriano M.
AU - Frizera Vassallo R.
PY - 2010
SP - 135
EP - 140
DO - 10.5220/0002880601350140