Implementation of human following mission by using fuzzy head motion control and Q-learning wheel motion control for home service robot

Ri Wei Deng, Yin Hao Wang, Chih Jui Lin, Tzuu Hseng S. Li

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

This paper mainly implements human following function for home service robot, May, developed in our laboratory. In order to follow the operator accurately, visual tracking is composed by Tracing-Learning-Detection (TLD) and Kinect skeleton, where TLD plays the role as re-detecting the situation that operator is occluded or disappeared, and Kinect skeleton is adopted to track all other situations while TLD is learning how to enlarge operator image patterns in order to enhance recognition rates. For the sake of improving tracking capability, fuzzy head motion control is added in the visual tracking system to compensate the constraints that the mobile platform of May cannot react rapidly. Every instant movement of the operator can be captured by fuzzy head motion control in real time. Q-learning is applied to discover the pose switching of the mobile platform such that May possesses more robust following ability. By Q-learning, states setting are based on three dimensional position, actions are created by the pose of four wheel independent steering and four wheel independent driven (4WIS4WID) platform, and rewards are established on state transitions. Finally, both the experimental results in the laboratory and competition consequents of Follow Me Mission in robot@home league at RoboCup Japan Open 2013 Tokyo demonstrate that our robot May can fluently switch its poses to follow operator by utilizing the proposed schemes.

原文English
主出版物標題iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications
發行者IEEE Computer Society
頁面55-60
頁數6
ISBN(列印)9781479903863
DOIs
出版狀態Published - 2013 一月 1
事件iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications - Taipei, Taiwan
持續時間: 2013 十二月 62013 十二月 8

出版系列

名字iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications

Other

OtheriFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications
國家Taiwan
城市Taipei
期間13-12-0613-12-08

All Science Journal Classification (ASJC) codes

  • Applied Mathematics

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  • 引用此

    Deng, R. W., Wang, Y. H., Lin, C. J., & Li, T. H. S. (2013). Implementation of human following mission by using fuzzy head motion control and Q-learning wheel motion control for home service robot. 於 iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications (頁 55-60). [6825409] (iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications). IEEE Computer Society. https://doi.org/10.1109/iFuzzy.2013.6825409