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Intelligent robotic person following in unstructured environments

The paper describes a scheme based on image identification and fuzzy logic control for following a person by a mobile robot in previously unknown and rough environments. The mobile robot is equipped with a pan-tilt-zoom camera and sonar range sensors. The person detection system uses color and shape of the person to be followed, and provides key characteristics of the person’s image to a fuzzy control scheme. These characteristics are used by fuzzy controllers to determine the actuation signals for the camera pan and tilt, and the robot speed and steering. Experimental results are reported for both indoor locations consisting of tours of labs and hallway, and outdoor environments involving traversal over hills and rough terrain.