Rocapal-itis

• Project Name: Follow person behavior for a Pioneer robot, using only the on board camera and pantilt unit.

• Authors: Roberto Calvo and Jose María Cañas Plaza (jmplaza [at] gsyc [dot] es)

• Academic Year: 2003-2004

• Degree: Undergrad

• Jde Version: jde-2.4

• SVN Repository: no available

• Tags: robot, cameras, follow person, pantilt unit.

• Technology: c, c++, jde suite, xforms

• State: Finished

• Source License: GPLv3

• Document License: Creative Commons Attribution-Share Alike 3.0 Unported License

• Documentation:

Master Thesis: 

• Presentation:

On the Pioneer real robot we've developed a person-following behavior using a monocular camera. This project is another implementation of the follow person behavior, but in this project this behavior has been improved with a pantilt unit to get a directional vision.

The robot avoids obstacles in the way through and searches for the person in case of losing her in the image. The behavior has been programmed as two JDE-schemas: a perceptive schema carries out a color filter to detect the person (wearing a colored shirt), and a motor schema implements a case-based control. To know where the person is this project used a color filter and when the robot lost the person in his image it moves the pantilt unit to set position of the person again. The motor schema defines a rectangular safety region, just in front of the robot, to activate a Virtual Field Force (VFF) avoidance behavior.

• Videos: