Gain-scheduling control of a monocular vision-based human-following robot

Michael Burke, Willie Brink

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Abstract

This paper presents a gain-scheduling controller for a human-following robot. Typical controllers use either a point-to-point approach where the relative orientation between human and platform is uncontrolled, or a direction-based approach which corrects orientation errors at the expense of additional actuation. We describe the flaws and benefits of each and argue that a gain-scheduling controller combining the two is better equipped to deal with the challenges of human-following. A model of our feature-based, single camera vision system is presented and used to show that the gain-scheduling controller offers better performance than its components, and actual responses to a human following task are used to corroborate this.

Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Pages8177-8182
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
DOIs
Publication statusPublished - 2011
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume44
ISSN (Print)1474-6670

Keywords

  • Autonomous mobile robots
  • Gain scheduling control
  • Monte Carlo simulation
  • Robot vision

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