Multi-Sensor-Based Control Strategy for Initiating and Maintaining Interaction Between a Robot and a Human
- 1 January 2011
- journal article
- Published by Taylor & Francis Ltd in Advanced Robotics
- Vol. 25 (9-10), 1249-1270
- https://doi.org/10.1163/016918611x574704
Abstract
This paper presents a multi-sensor-based control strategy allowing a mobile robot to safely navigate with respect to a given human being. Two sensors are embedded in our robot: a vision system that is able to detect and track the person of interest, and a RFID antennas belt that can locate the tag worn by the latter. Thus, our control strategy will be built using image features (when the user is visible) and RFID information (when not). In the first case, a robust visual servoing control will be designed, while in the second case a suitable RFID controller will be proposed. Experimental results demonstrate the efficiency of the proposed control strategy.Keywords
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