NDLI: A nonlinear controller for people guidance based on omnidirectional vision

Content Provider	IEEE Xplore Digital Library
Author	Pereira, F.G. Santos, M.C.P. Vassallo, R.F.
Copyright Year	2011
Description	Author affiliation: Department of Electrical Engineering, Federal University of Espírito Santo-UFES. Av. Fernando Ferrari, 514, Goiabeiras, Vitória-ES, Brazil. CEP 29075-910 (Santos, M.C.P.; Vassallo, R.F.) \|\| Department of Engineering and Computing, University Center North of Espírito Santo-CEUNES/UFES. Rodovia BR 101 Norte, km. 60, Bairro Litorâneo, São Mateus-ES, Brazil (Pereira, F.G.)
Abstract	In the last years there has been an increasing interest in developing robots that are able to perform tasks cooperatively with humans instead of replacing them, for instance a robot which works as a guide in a museum. Until now the developed service guide robots only navigates through the aisles of the museums without concerning the people's movement. Then, the main purpose of the work presented in this article is to develop a nonlinear controller to allow a robot to guide a person through a specific environment until it reaches a desired point taking into consideration the movement capability of the guided person. Besides the controller a person detection and tracking is also necessary in order to accomplish the guidance task. The person detection and tracking are done by using omnidirectional images. The stability of the proposed controller is proved through the Lyapunov analysis. Some experiments are presented to show the effectiveness of the proposed controller.
Starting Page	3620
Ending Page	3625
File Size	845775
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094431
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Navigation Legged locomotion Machine vision Mathematical model
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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