A deep neural network based human following robot with fuzzy control

Yin Yin Aye, Kyaw Thiha, Mi Mi Myint Pyu, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This research aims to build a human following robot system based on a deep neural network algorithm in which a fuzzy controller controls the robot velocity and keeps the target person in the centre position of robot's view. Firstly, the system utilizes the deep neural network algorithm to detect a target person in the video sequence captured from a real sense D435 depth camera mounted on the mobile robot. Then, the system calculates the centre position of the target human and acquires the depth value of target human. Finally, these data are used as the inputs of a fuzzy controller to control the velocity and steering of the robot during tracking. Especially, the velocity of the robot which is normally limited as a constant in most existing human following robot systems is controlled by a fuzzy controller in this paper. The proposed system is verified through the experiments for a four-wheel steered mobile robot.

Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages720-725
Number of pages6
ISBN (Electronic)9781728163215
DOIs
Publication statusPublished - Dec 2019
Event2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China
Duration: Dec 6 2019Dec 8 2019

Publication series

NameIEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
CountryChina
CityDali
Period12/6/1912/8/19

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Keywords

  • A car-like mobile robot
  • Deep neural network
  • Fuzzy control
  • Human tracking

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Hardware and Architecture
  • Mechanical Engineering
  • Control and Optimization

Cite this

Aye, Y. Y., Thiha, K., Myint Pyu, M. M., & Watanabe, K. (2019). A deep neural network based human following robot with fuzzy control. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (pp. 720-725). [8961577] (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO49542.2019.8961577