Side By Side Speed And Distance Control For Person Following Robot

Teoh, Yew Chong (2015) Side By Side Speed And Distance Control For Person Following Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text Side by Side Speed And Distance Control For Person Following Robot - 24 pages.pdf - Submitted Version Download (415kB)

Abstract

Nowadays, the elderly in whole world is increasing year by year. Therefore, assistive robot is introduced and applied in many applications such as in hospital and home to help elderly. There are two types of person following robot; robot following behind and human and side by side person following robot. But only side by side person following that has interact more with human compare to robot following behind human. However, the problems will occur when design a side by side person following robot which is the distance between human and robot when robot following target human. Besides, speed control of side by side person following robot is also necessary. There are three objectives in this project which are to develop prototype of a side by side person following, design a fuzzy logic controller of speed control on robot and analysis performance of robot in term of distance and speed control. In methodology, Arduino Mega ATmega1280 as microcontroller, ultrasonic sensor as distance measurement and brushless DC motor with encoder as motor to move robot are used to build a robot. First experiment is to determine the rpm of motor by adjusted the input PWM. Second experiment is to test ultrasonic sensor and speed control on prototype while the third experiment is to determine the performance of side by side person following robot. The result of first experiment is the PWM able to control rpm of motor. Next, the result of second experiment showed that the maximum distance measured by front sensor and back sensor are 301cm and 316cm. Moreover, overshoot occurred in the result of experiment 2.

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