Lightweight Two-Layer Control Architecture for Human-Following Robot
Gustavo A Acosta-Amaya, Deimer A Miranda-Montoya, Jovani A Jimenez-Builes, Tamás Haidegger · 2024
Read Lightweight Two-Layer Control Architecture for Human-Following Robot by Gustavo A Acosta-Amaya, Deimer A Miranda-Montoya, Jovani A Jimenez-Builes, Tamás Haidegger (2024) in the Tower of Babel, a free online library of public-domain works preserved in clean, searchable text. No sign-up. The full text is served as a plain-text file at a predictable URL, where text is present: https://antarctic-labs.com/tower-of-babel/pmc-11644850.txt.
Description
Gustavo Acosta-Amaya, Deimer Miranda-Montoya, Jovani Jimenez-Builes, and Tamás Haidegger built in 2024 a lightweight control system for a robot that follows a person indoors. Assistive robots for older people and people with disabilities must track a person safely without heavy computing. Their design splits control into two layers.
A depth camera feeds distance and angle data to a fuzzy logic layer that sets target speeds. A low-level layer, built with two classical control methods, drives the motors. In five trials the robot held its set following distance in real time. One low-level method beat the other on every metric. The modular design suits scale-up for personal assistance robots.
Catalog record
| CREATOR | Gustavo A Acosta-Amaya, Deimer A Miranda-Montoya, Jovani A Jimenez-Builes, Tamás Haidegger |
|---|---|
| YEAR | 2024 |
| COLLECTION | PAPERS |
| FORMAT | TXT |
| FILE SIZE | 58 KB |
| VERSION | 1.0 |
| LICENSE | CC BY 4.0 |
| RIGHTS | CC BY |
| SOURCE | Europe PMC |