Modeling and robust analysis of a fuzzy based person following robot

Ability to follow and track a person robustly is an essential prerequisite for human-robot-interaction. Such capability has desires, which cannot be met pleasingly using conventional numerical process. Most rigorously, the robot has to stay at a certain safe distance as of the person that is being t...

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Main Authors:	Alamgir, Tarik Bin, Alfar, Ibrahim Jawad, Rashid, Muhammad Mahbubur
Format:	Conference or Workshop Item
Language:	English
Published:	2012
Subjects:	TA Engineering (General). Civil engineering (General)
Online Access:	http://irep.iium.edu.my/29193/ http://irep.iium.edu.my/29193/1/Modeling_and_robust_analysis_of_a_fuzzy_based.pdf

id	iium-29193
recordtype	eprints
spelling	iium-291932013-02-26T02:06:32Z http://irep.iium.edu.my/29193/ Modeling and robust analysis of a fuzzy based person following robot Alamgir, Tarik Bin Alfar, Ibrahim Jawad Rashid, Muhammad Mahbubur TA Engineering (General). Civil engineering (General) Ability to follow and track a person robustly is an essential prerequisite for human-robot-interaction. Such capability has desires, which cannot be met pleasingly using conventional numerical process. Most rigorously, the robot has to stay at a certain safe distance as of the person that is being tracked and concurrently be in motion smoothly which does not seem to be scary to the person. In this research, consequently, a Fuzzy Inference System (FIS) is developed and used as a controller to provide decisions achieving smooth and safe person-following activities. Few approaches have been used to examine the performance of person following robot in smooth tracking and comparing and collating those ultimately an IR based co-ordinate system is used to obtain the tracking features for human robot interaction and the velocity of the person is detected by using ultrasonic sensor which are used to generate the Fuzzy membership function of FIS to control the robot movement. The simulation and result on this research established that even though the detection of IR is subject to minor noise and false negatives, the robot will achieve the smoothness and safety objectives while following its target. In this paper robot modelling and its real time robust analysis is demonstrated for the designed prototype. 2012 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/29193/1/Modeling_and_robust_analysis_of_a_fuzzy_based.pdf Alamgir, Tarik Bin and Alfar, Ibrahim Jawad and Rashid, Muhammad Mahbubur (2012) Modeling and robust analysis of a fuzzy based person following robot. In: International Conference on Computer and Communication Engineering (ICCCE 2012), 3-5 July 2012, Seri Pacific Hotel Kuala Lumpur.
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA Engineering (General). Civil engineering (General)
spellingShingle	TA Engineering (General). Civil engineering (General) Alamgir, Tarik Bin Alfar, Ibrahim Jawad Rashid, Muhammad Mahbubur Modeling and robust analysis of a fuzzy based person following robot
description	Ability to follow and track a person robustly is an essential prerequisite for human-robot-interaction. Such capability has desires, which cannot be met pleasingly using conventional numerical process. Most rigorously, the robot has to stay at a certain safe distance as of the person that is being tracked and concurrently be in motion smoothly which does not seem to be scary to the person. In this research, consequently, a Fuzzy Inference System (FIS) is developed and used as a controller to provide decisions achieving smooth and safe person-following activities. Few approaches have been used to examine the performance of person following robot in smooth tracking and comparing and collating those ultimately an IR based co-ordinate system is used to obtain the tracking features for human robot interaction and the velocity of the person is detected by using ultrasonic sensor which are used to generate the Fuzzy membership function of FIS to control the robot movement. The simulation and result on this research established that even though the detection of IR is subject to minor noise and false negatives, the robot will achieve the smoothness and safety objectives while following its target. In this paper robot modelling and its real time robust analysis is demonstrated for the designed prototype.
format	Conference or Workshop Item
author	Alamgir, Tarik Bin Alfar, Ibrahim Jawad Rashid, Muhammad Mahbubur
author_facet	Alamgir, Tarik Bin Alfar, Ibrahim Jawad Rashid, Muhammad Mahbubur
author_sort	Alamgir, Tarik Bin
title	Modeling and robust analysis of a fuzzy based person following robot
title_short	Modeling and robust analysis of a fuzzy based person following robot
title_full	Modeling and robust analysis of a fuzzy based person following robot
title_fullStr	Modeling and robust analysis of a fuzzy based person following robot
title_full_unstemmed	Modeling and robust analysis of a fuzzy based person following robot
title_sort	modeling and robust analysis of a fuzzy based person following robot
publishDate	2012
url	http://irep.iium.edu.my/29193/ http://irep.iium.edu.my/29193/1/Modeling_and_robust_analysis_of_a_fuzzy_based.pdf
first_indexed	2023-09-18T20:42:50Z
last_indexed	2023-09-18T20:42:50Z
_version_	1777409479433781248

Modeling and robust analysis of a fuzzy based person following robot

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