Burke, Michael G2011-05-112011-05-112011-03Burke, M.G. 2011. Visual servo control for a human-following robot. Stellenbosch Universityhttp://hdl.handle.net/10204/4997Copyright: 2011 Stellenbosch University. Thesis presented in partial fulfilment of the requirements for the degree Master of Science in Engineering at Stellenbosch UniversityThis thesis presents work completed on the design of control and vision components for use in a monocular vision-based human-following robot. The use of vision in a controller feedback loop is referred to as vision-based or visual servo control. Typically, visual servo techniques can be categorised into image-based visual servoing and position-based visual servoing. This thesis discusses each of these approaches, and argues that a position-based visual servo control approach is more suited to human following. A position-based visual servo strategy consists of three distinct phases: target recognition, target pose estimation and controller calculations. The thesis discusses approaches to each of these phases in detail, and presents a complete, functioning system combining these approaches for the purposes of human following. Traditional approaches to human following typically involve a controller that causes platforms to navigate directly towards targets, but this work argues that better following performance can be obtained through the use of a controller that incorporates target orientation information. Although a purely direction-based controller, aiming to minimise both orientation and translation errors, suffers from various limitations, this thesis shows that a hybrid, gain-scheduling combination of two traditional controllers offers better target following performance than its components. In the case of human following the inclusion of target orientation information requires that a definition and means of estimating a human's orientation be available. This work presents a human orientation measure and experimental results to show that it is suitable for the purposes of wheeled platform control. Results of human following using the proposed hybrid, gain-scheduling controller incorporating this measure are presented to confirm this.enHuman following robotMobile robotAutonomous navigationHomographyMonocular visionStellenbosch UniversityReportBurke, M. G. (2011). <i>Visual servo control for a human-following robot</i> (Workflow request;6035). Stellenbosch University. Retrieved from http://hdl.handle.net/10204/4997Burke, Michael G <i>Visual servo control for a human-following robot.</i> Workflow request;6035. Stellenbosch University, 2011. http://hdl.handle.net/10204/4997Burke MG. Visual servo control for a human-following robot. 2011 [cited yyyy month dd]. Available from: http://hdl.handle.net/10204/4997TY - Report AU - Burke, Michael G AB - This thesis presents work completed on the design of control and vision components for use in a monocular vision-based human-following robot. The use of vision in a controller feedback loop is referred to as vision-based or visual servo control. Typically, visual servo techniques can be categorised into image-based visual servoing and position-based visual servoing. This thesis discusses each of these approaches, and argues that a position-based visual servo control approach is more suited to human following. A position-based visual servo strategy consists of three distinct phases: target recognition, target pose estimation and controller calculations. The thesis discusses approaches to each of these phases in detail, and presents a complete, functioning system combining these approaches for the purposes of human following. Traditional approaches to human following typically involve a controller that causes platforms to navigate directly towards targets, but this work argues that better following performance can be obtained through the use of a controller that incorporates target orientation information. Although a purely direction-based controller, aiming to minimise both orientation and translation errors, suffers from various limitations, this thesis shows that a hybrid, gain-scheduling combination of two traditional controllers offers better target following performance than its components. In the case of human following the inclusion of target orientation information requires that a definition and means of estimating a human's orientation be available. This work presents a human orientation measure and experimental results to show that it is suitable for the purposes of wheeled platform control. Results of human following using the proposed hybrid, gain-scheduling controller incorporating this measure are presented to confirm this. DA - 2011-03 DB - ResearchSpace DP - CSIR KW - Human following robot KW - Mobile robot KW - Autonomous navigation KW - Homography KW - Monocular vision KW - Stellenbosch University LK - https://researchspace.csir.co.za PY - 2011 T1 - Visual servo control for a human-following robot TI - Visual servo control for a human-following robot UR - http://hdl.handle.net/10204/4997 ER -