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Technologies 2017, 5(2), 34; doi:10.3390/technologies5020034

Vision-Based Robot Following Using PID Control

1
Computer Science Engineering, Rajiv Gandhi Universities of Knowledge and Technologies, Nuzvid, PIN-521202, India
2
Robotics and Artificial Intelligence Laboratory, Indian Institute of Information Technology, Allahabad, PIN-211012, India
*
Author to whom correspondence should be addressed.
Academic Editor: Manoj Gupta
Received: 15 February 2017 / Revised: 21 May 2017 / Accepted: 7 June 2017 / Published: 10 June 2017
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Abstract

Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential) controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to follow the master robot. For the master robot, a Bluetooth module receives the user’s command from an android application which is processed by the master robot’s controller, which is used to move the robot. The follower robot receives the image from the Kinect sensor mounted on it and recognizes the master robot. The follower robot identifies the x, y positions by employing the camera and the depth by using the Kinect depth sensor. By identifying the x, y, and z locations of the master robot, the follower robot finds the angle and distance between the master and follower robot, which is given as the error term of a PID controller. Using this, the follower robot follows the master robot. A PID controller is based on feedback and tries to minimize the error. Experiments are conducted for two indigenously developed robots; one depicting a humanoid and the other a small mobile robot. It was observed that the follower robot was easily able to follow the master robot using well-tuned PID parameters. View Full-Text
Keywords: robot following; master robot; follower robot; RGBD; PID control robot following; master robot; follower robot; RGBD; PID control
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Pati, C.S.; Kala, R. Vision-Based Robot Following Using PID Control. Technologies 2017, 5, 34.

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