HUMAN FOLLOWING

MOBILE ROBOT USING

VISUAL NAVIGATION
PROJECT SUPERVISOR
DR. MUHAMMAD UMER KHAN

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Group Members

SUNAN RAZA KHAN

(120535)

MUHAMMAD BIN SALEEM

(120547)

SHUMAIL ZAHEER

(120567)

MUHAMMAD UMAIR

(120589)

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Contents

Introduction
Mathematical Modeling

Mechanical Design
Demonstration
Questions and Answers

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Introduction
Problem Statement
The ultimate goal of our project is to make an Unmanned
Ground Vehicle (UGV) follow a single human using visual
navigation based on static gestures given by the human to be
followed.

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Introduction
Objectives and Goals
Detect a human body.
Follow a single human as he/she walks.
Gesture recognition (to start and stop the robot)

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Introduction
Constraints
Single human following
No obstacle avoidance

Moderate speed of human

Robot moves over smooth surfaces.
Only static gestures

No payload
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Introduction
Block Diagram

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Introduction
Robot Operating System

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Introduction
Why ROS?
Modularity
Concurrent resource handling
Distributed computation
Software Reuse

Rapid testing

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Mathematical Modelling
Control Model Diagram

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Mathematical Modelling
Transfer Function:

2 + + + +

Shifting Towards load:

1 ()
50

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Mathematical Modelling
Simulink without PID controller Diagram and response

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Mathematical Modelling
With PID controller Diagram and response:

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Mechanical Design
Robot base has 3 main compartments:

Lower compartment
Intermediate compartment
Upper compartment

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Mechanical Design
Lower Compartment:

This compartment has:

Motors
Batteries
Chain drive
Gears

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Mechanical Design
Intermediate compartment:

This is a sliding compartment

Our laptop will be placed in
this compartment

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Mechanical Design
Upper Compartment:

This compartment has the

electrical circuits like:
H-bridge
Power Board
Arduino Mega 2560

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Mechanical Design
Stress Analysis

Net force: 1000N

Force on robot base frame: 500N
Force on slider: 400N
Force on Circuit section: 100N

Yield Stress: 9.352x10-12 4.596x 10-03 MPa

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Demonstration
Basic architecture of ROS
Packages
Nodes

Topics
Messages
ROS master

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Demonstration
Packages used in our demonstration
OpenNI
NITE
Rosserial

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Demonstration
Representation of ROS Architecture

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Demonstration
Flow Chart

yes

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Demonstration

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Tentative Cost Analysis

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Timeline

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ANY QUESTIONS?

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