Robotic system using fuzzy logic for person following

Abstract

In this paper a robotic system is proposed which follows a person avoiding obstacles in an indoor environment. The Robot platform used is DaNI Robot which has 180 degree steering ultrasonic sensor at the frontend and a Single-board Reconfigurable Input-Output (SBRIO-9632). The board has real time controller and a Field Programmable Gate Array (FPGA) device. A wireless router is connected to IP camera and the board. To control the movement of wheels a fuzzy logic based algorithm is proposed in this paper. The data received from the camera is processed using optical character recognition method and the steering ultrasonic sensor is used to measure the distance, avoid the obstacles. The entire design was done using NILabVIEW and the test results of this new approach show the quick response of the robot to follow a person in a smooth manner and avoiding the obstacles.