The Design and Implementation of Face Recognition and Robot Navigation on Home Services

• Main Authors: Che-Yuan Tsao, 曹哲源
• Other Authors: 陳文輝
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/4hv5h2

碩士 === 國立臺北科技大學 === 自動化科技研究所 === 94 === The thesis focuses on dynamic face recognition and mobile robot navigation. The process of face recognition can be divided into detection and recognition two stages. In detection stage, the principal component analysis (PCA) algorithm is used to verify selected candidate face areas obtained from calculating the corresponding y-axis projection of image data. Once face areas are identified, the Fisherfaces method is adopted to reduce the dimension of face images and extract representative features for the proposed Grey Relational Analysis (GRA) based classification. As to robot navigation, a human-leading strategy with sonar sensors is used to automatically construct the map of moving region in which a robot will be operating. Subsequently, an evolution algorithm and a fuzzy controller with the Global Action Updater are designed to solve path planning and obstacle avoidance problems, respectively to reach the goal of mobile robot navigation.