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. The authors 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.
Reference:
Burke, M.G. and Brink, W. 2011. Gain-scheduling control of a monocular vision-based human-following robot. 18th World Congress of the International Federation of Automatic Control (IFAC 2011), Università Cattolica del Sacro Cuore Milano, Italy, 28 August-2 September 2011
Burke, M. G., & Brink, W. (2011). Gain-scheduling control of a monocular vision-based human-following robot. http://hdl.handle.net/10204/5216
Burke, Michael G, and W Brink. "Gain-scheduling control of a monocular vision-based human-following robot." (2011): http://hdl.handle.net/10204/5216
Burke MG, Brink W, Gain-scheduling control of a monocular vision-based human-following robot; 2011. http://hdl.handle.net/10204/5216 .
18th World Congress of the International Federation of Automatic Control (IFAC 2011), Università Cattolica del Sacro Cuore Milano, Italy, 28 August-2 September 2011