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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/5216

Title: Gain-scheduling control of a monocular vision-based human-following robot
Authors: Burke, M
Brink, W
Keywords: Autonomous mobile robots
Robot vision
Gain scheduling control
Monte Carlo simulation
Human following robot
Issue Date: Aug-2011
Citation: Burke, M 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
Series/Report no.: Workflow request;7230
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. 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.
Description: 18th World Congress of the International Federation of Automatic Control (IFAC 2011), Università Cattolica del Sacro Cuore Milano, Italy, 28 August-2 September 2011
URI: http://hdl.handle.net/10204/5216
Appears in Collections:Mobile intelligent autonomous systems
General science, engineering & technology

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