Burke, Michael GBrink, W2011-10-102011-10-102011-08Burke, 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 2011http://hdl.handle.net/10204/521618th World Congress of the International Federation of Automatic Control (IFAC 2011), Università Cattolica del Sacro Cuore Milano, Italy, 28 August-2 September 2011This 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.enAutonomous mobile robotsRobot visionGain scheduling controlMonte Carlo simulationHuman following robotConference PresentationBurke, M. G., & Brink, W. (2011). Gain-scheduling control of a monocular vision-based human-following robot. http://hdl.handle.net/10204/5216Burke, Michael G, and W Brink. "Gain-scheduling control of a monocular vision-based human-following robot." (2011): http://hdl.handle.net/10204/5216Burke MG, Brink W, Gain-scheduling control of a monocular vision-based human-following robot; 2011. http://hdl.handle.net/10204/5216 .TY - Conference Presentation AU - Burke, Michael G AU - Brink, W AB - 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. DA - 2011-08 DB - ResearchSpace DP - CSIR KW - Autonomous mobile robots KW - Robot vision KW - Gain scheduling control KW - Monte Carlo simulation KW - Human following robot LK - https://researchspace.csir.co.za PY - 2011 T1 - Gain-scheduling control of a monocular vision-based human-following robot TI - Gain-scheduling control of a monocular vision-based human-following robot UR - http://hdl.handle.net/10204/5216 ER -