By Topic

A nonlinear controller for people guidance based on omnidirectional vision

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
$33 $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

3 Author(s)
Flávio Garcia Pereira ; Department of Engineering and Computing, University Center North of Espírito Santo-CEUNES/UFES. Rodovia BR 101 Norte, km. 60, Bairro Litorâneo, São Mateus-ES, Brazil ; Milton César Paes Santos ; Raquel Frizera Vassallo

In the last years there has been an increasing interest in developing robots that are able to perform tasks cooperatively with humans instead of replacing them, for instance a robot which works as a guide in a museum. Until now the developed service guide robots only navigates through the aisles of the museums without concerning the people's movement. Then, the main purpose of the work presented in this article is to develop a nonlinear controller to allow a robot to guide a person through a specific environment until it reaches a desired point taking into consideration the movement capability of the guided person. Besides the controller a person detection and tracking is also necessary in order to accomplish the guidance task. The person detection and tracking are done by using omnidirectional images. The stability of the proposed controller is proved through the Lyapunov analysis. Some experiments are presented to show the effectiveness of the proposed controller.

Published in:

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

25-30 Sept. 2011