Fuzzy Fusion Behavior Based Control Algorithm To Improve Side By Side Person Following Robot

Mohd Sobran, Nur Maisarah and Hj. Shukor, Ahmad Zaki and Johari, Siti Halma and Ahmad, Arfah and Tarmizi, Aini Ilina (2018) Fuzzy Fusion Behavior Based Control Algorithm To Improve Side By Side Person Following Robot. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Person Following Robot (PFR) is generally used to accompany or assist human while following the human’s movement.PFR is known to be a very complex robot to develop,it consists of three main parts which are hardware,tracking and following algorithm.Most algorithm for person for PFR is complex therefore this research aims to design the control algorithm using fuzzy logic controller for a person following robot that able to follow on horizontal and inclined surface.The method starts by doing behavior analysis of human walking and robot movement for person following robot using IMU.From the behavior analysis,the control algorithm for PFR is designed using fuzzy logic controller.The behavior of human walking and robot movement analyzed shows that movement of turning and maneuverability of the robot is the same human walking.However,the speed of the robot is slightly slower than the human walking speed.

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