Control Design for Robotic Human-Following and Obstacle Avoidance Using an RGB-D Camera

Cheng An Yang, Kai-Tai Song*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

The task of robotic human-following requires a mobile robot to detect and follow the selected target person and maintain an appropriate distance to the person. In practical applications, the robot must continuously estimate the target location considering unexpected obstacles to keep stable human-following control. This paper proposes to combine human-following control with obstacle avoidance, so that the robot can avoid obstacles while simultaneously follow the target person. In this design, obstacle as well as human features are obtained by using a RGB-D camera. A deep neural network(DNN) model works to detect and identify the user in the environment. An improved artificial potential field (APF) is applied to robot motion planning by integrating the target human position and obstacle information. Practical experiments on a mobile robot verified the proposed method. The robot can follow the user stably while avoiding obstacles in an indoor environment.

Original languageEnglish
Title of host publicationICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings
PublisherIEEE Computer Society
Pages934-939
Number of pages6
ISBN (Electronic)9788993215182
DOIs
StatePublished - Oct 2019
Event19th International Conference on Control, Automation and Systems, ICCAS 2019 - Jeju, Korea, Republic of
Duration: 15 Oct 201918 Oct 2019

Publication series

NameInternational Conference on Control, Automation and Systems
Volume2019-October
ISSN (Print)1598-7833

Conference

Conference19th International Conference on Control, Automation and Systems, ICCAS 2019
CountryKorea, Republic of
CityJeju
Period15/10/1918/10/19

Keywords

  • Human-following
  • Mobile robot
  • Motion control
  • Motion prediction
  • Obstacle avoidance

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  • Cite this

    Yang, C. A., & Song, K-T. (2019). Control Design for Robotic Human-Following and Obstacle Avoidance Using an RGB-D Camera. In ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings (pp. 934-939). [8971754] (International Conference on Control, Automation and Systems; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.23919/ICCAS47443.2019.8971754