Development of a human following robot based on bluetooth received signal strength

Cheng, Kar Yan (2020) Development of a human following robot based on bluetooth received signal strength. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Human following is a technique used by robot and autonomous vehicles to follow a human within a specific range. The implementation of human following robots is being actively carried out in various daily tasks such as load carrying, monitoring a target and navigation for people through interaction and collaboration. Most of the existing developments use one of the various sensor technologies such as Laser Range Finder (LRF), Red Green Blue-Depth (RGB-D) camera, stereo camera, Light Detection and Ranging (LiDAR) and ultrasonic sensor. However, those technologies need the Line of Sight (LOS) condition to operate properly. It is easy to lose the sight of the target when in complex environment. The purpose of this project is to develop a human following robot using a smartphone application through the Bluetooth medium. The developed system consists of two main components which are the microcontroller and motor driver. The distance between the human and robot is estimated based on the Received Signal Strength Indicator (RSSI) of the Bluetooth signal measured by using path loss propagation model. The gyroscope sensor on the smartphone is used to estimate the direction of target movement. Performance evaluation of the robot is conducted based on the accuracy of estimated distance for several values of path loss exponent. The results show that the best path loss exponent is 1.7 in indoor with Line-Of Sight (LOS) condition. The accuracy of the distance in this condition is the highest. The measured distance is decreasing when the actual distance at 1.8m in each condition

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