By Topic

Following Controller for Autonomous Mobile Robots Using Behavioral Cues

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Chueh, M. ; Google Inc., Menlo Park, CA ; Au Yeung, Y.L.W. ; Lei, K.-P.C. ; Joshi, S.S.

This paper proposes an autonomous-robot following controller that can integrate information provided from behavioral cues of the leader to increase the reliability and the performance of following. The controller continuously estimates the future predicted position of the leader as it moves, and then directs the follower robot to this position. A Kalman filter is employed for an estimation that uses vision-based measurements of leader position, a dynamic model of the leader, and a behavioral-cue model of the leader. The behavioral-cue model serves to either tune the dynamic model and/or create pseudomeasurements to further help the Kalman filter estimate the leader's future position. Once the leader's future position is estimated, a trajectory planner plans a path to the future position, and a motor controller implements the required control signals to the robot wheels. It is suggested that this controller may have particular importance for human following by autonomous robots in future human-robot interaction environments.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:55 ,  Issue: 8 )