Follow - me umbrella | |
| Author | Hakmanaarachchi, Lakna Kaumadie |
| Call Number | AIT Caps Proj no.ME-15-17 |
| Subject(s) | Umbrella Robots--Control systems |
| Note | A capstone project report submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-15-17 |
| Abstract | Since the day we were born to the day we die, all humans crave a comfortable lifestyle. The Advanced development of technology has made our life easier by reducing the amount of things we do alone. Therefore Service robots got undivided attention due to their neediness which can facilitate human difficulties in day today life. As the fundamental movement of a robot in many situations, it should firstly be able to identify who the users are and follow them. In this research Microsoft Xbox 360 Kinect sensor has been used to track and follow them. This robot specifically focuses on the users who require assistance of an autonomous robot and where an umbrella would be held. As for the application, Follow Me - Umbrella is a mobile umbrella which finds, follows and shelters its users. To track the users many methods such as Using Ultrasonic sensors, GPS position following, vision and LRF sensor fusion based tracking method, infrared beacon method, stereo vision methods and voice recognition methods have been used in Literature. But this new concept of using the ’Kinect Sensor’ is considered as a more reliable method of tracking and following, by many researchers. And this to be proved by my research. Users are identified through the skeleton stream data obtained from Kinect and the distances are measured by the Kinects depth stream data. Center of mass of the user (skeletal stream data) is taken as the initial coordinates to measure the distances (depth stream data) from the robot to the user and direction of the movements of the user to follow accordingly. Changes in the coordinate values will be given to the motors for them to be driven towards the user. The speed of the robot will be changed according to the rate of change of the Z coordinate (distance from robot to the user). Experiment conducted gathered two types of distance data namely, distances a User traveled and the distances of the deviation of the robot from the User. From the distances the User traveled within a constant time period of five seconds, the speed of the User could be calculated. Analyzing data of the Walking speed of the User and the robot’s deviation from the User, gave an exponentially increasing graph for higher Walking speeds. Considering the maximum allowable deviation as 0.3m (gap between the robot and the Users), the Maximum walking speed of the Users for the robot to successfully follow them could be obtained. With 80% of successful attempts from the experiment it was decided that the maximum walking speed of the User should be 1.13 m/s. |
| Year | 2015 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-15-17 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Mongkol Ekpanyapong; |
| Examination Committee(s) | Lin, Than; |
| Degree | Capstone Project (M.Eng.) - Asian Institute of Technology, 2015 |