A Home Service Robot with Face Tracking

• Main Authors: CHAN,HSUN-YU, 詹勳宇
• Other Authors: 蕭俊祥
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/2u2v2x

碩士 === 國立臺北科技大學 === 機電整合研究所 === 99 === In this study, Robotino, which is an omni-directional wheeled robot and developed by German FESTO company, is used to be the moving platform. Face detection algorithm is achieved by coding Visual C++ program and using the OpenCV functions. When the x coordinate value of the face center is obtained, the coordinate information is fedback to controller implemented in LabVIEW software. According to the deviation error of the face from the image center, a PD controller is used to calculate the control signal for suitably rotating the Robotino robot. In the meantime, a laser range finder is employed to detect the distance of human body which will be used as the input variable of fuzzy logic controller. The fuzzy logic controller can determine the robot speed so that cruise control can be obtained. In addition, obstacle avoidance is carried out by using the robot infrared sensors. Obstacle Avoidance algorithm is so designed that the robot always tracks the face and simultaneously wall follows the obstacle.