INTELLIGENT ROBOTIC PERSON FOLLOWING IN UNSTRUCTURED ENVIRONMENTS

Mahmoud Tarokh; John Kuo

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Paper

INTELLIGENT ROBOTIC PERSON FOLLOWING IN UNSTRUCTURED ENVIRONMENTS

Topics: Mobile Robots and Autonomous Systems; Vehicle Control Applications

In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, 101-106, 2005 , Barcelona, Spain

Authors: Mahmoud Tarokh and John Kuo

Affiliation: San Diego State University, United States

Keyword(s): Robotic person following, fuzzy control, image recognition.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

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 several formats:

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 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 101-106. DOI: 10.5220/0001166601010106

@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 3: ICINCO},
year={2005},
pages={101-106},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001166601010106},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - INTELLIGENT ROBOTIC PERSON FOLLOWING IN UNSTRUCTURED ENVIRONMENTS
SN - 972-8865-30-9
IS - 2184-2809
AU - Tarokh, M.
AU - Kuo, J.
PY - 2005
SP - 101
EP - 106
DO - 10.5220/0001166601010106
PB - SciTePress