Visual servo control for a human-following robot
| dc.contributor.advisor | Engelbrecht, J. A. A. | en_ZA |
| dc.contributor.advisor | Brink, Willie | en_ZA |
| dc.contributor.advisor | Schreve, K. | en_ZA |
| dc.contributor.author | Burke, Michael Glen | en_ZA |
| dc.contributor.other | University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. | en_ZA |
| dc.date.accessioned | 2011-02-28T14:14:23Z | en_ZA |
| dc.date.accessioned | 2011-03-14T08:43:52Z | |
| dc.date.available | 2011-02-28T14:14:23Z | en_ZA |
| dc.date.available | 2011-03-14T08:43:52Z | |
| dc.date.issued | 2011-03 | en_ZA |
| dc.description | Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2011. | en_ZA |
| dc.description.abstract | ENGLISH ABSTRACT: 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 imagebased 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 targetfollowing 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. | en_ZA |
| dc.description.abstract | AFRIKAANSE OPSOMMING: Die ontwerp van ’n visiestelsel en beheer-komponente van ’n enkel-kamera robot vir die volging van mense word hier aangebied. Die gebruik van visuele terugvoer in die beheerlus word visie-gebaseerde of visuele servobeheer genoem. Visuele servobeheer tegnieke kan tipies onderskei word tussen beeld-gebaseerde servobeheer en posisie-gebaseerde visuele servobeheer. Altwee benaderings word hier bespreek. Die posisie-gebaseerde benadering word aanbeveel vir die volging van mense. Die posisie-gebaseerde servobeheertegniek bestaan uit drie duidelike fases: teiken herkenning, teiken oriëntasie bepaling en die beheerder berekeninge. Benaderings tot elk van hierdie fases word hier in detail bespreek. Dan word ’n volledige funksionele stelsel aangebied wat hierdie fases saamvoeg sodat mense gevolg kan word. Meer tradisionele benaderings tot die volging van mense gebruik tipies ’n beheerder wat die platvorm direk laat navigeer na die teikens, maar hier word geargumenteer dat beter werkverrigting verkry kan word deur ’n beheerder wat die teiken oriëntasie inligting ook gebruik. ’n Suiwer rigting-gebaseerde beheerder, wat beide oriëntasie en translasie foute minimeer, is onderhewig aan verskeie beperkings. Hier word egter aangetoon dat ’n hibriede, aanwinsskedulerende kombinasie van die twee tradisionele beheerders beter teikenvolging werkverrigting bied as die onderliggende twee tegnieke. In die geval van die volging van mense vereis die insluiting van teiken oriëntasie inligting dat ’n definisie van die persoon se oriëntasie beskikbaar is en dat dit geskat kan word. ’n Oriëntasie maatstaf vir mense word hier aangebied en dit word eksperimenteel getoon dat dit geskik is om ’n platvorm met wiele te beheer. Die resultate van die volging van mense wat die voorgestelde hibriede, aanwins-skedulerende beheerder gebruik, met hierdie maatstaf, word ter ondersteuning aangebied. | af_ZA |
| dc.format.extent | 129 p. : ill. | |
| dc.identifier.uri | http://hdl.handle.net/10019.1/6813 | |
| dc.language.iso | en_ZA | en_ZA |
| dc.publisher | Stellenbosch : University of Stellenbosch | en_ZA |
| dc.rights.holder | University of Stellenbosch | |
| dc.subject | Visual servo control | en_ZA |
| dc.subject | Human-following robot | en_ZA |
| dc.subject | Position-based visual servo control | en_ZA |
| dc.subject | Hybrid gain-scheduling controller | en_ZA |
| dc.subject | Dissertations -- Electronic engineering | en_ZA |
| dc.subject | Theses -- Electronic engineering | en_ZA |
| dc.title | Visual servo control for a human-following robot | en_ZA |
| dc.type | Thesis | en_ZA |