Human Following Robot

HUMAN FOLLOWING ROBOT
CHAPTER 1
INTRODUCTION
In a landscape where the robotics frontier is expanding, our project takes a deliberate
step towards simplicity in design and functionality. Our focal point is the development
of Human Following Robot, distinct from the realm of artificially intelligent
machines. This undertaking seeks to address the practical needs of environments like
hospital, schools and shopping malls, where seamless human-robot collaboration is
increasingly valuable. Contrary to the intricate algorithms powering artificially
intelligent robots, our approach relies on the strategic integration of three ultrasonic
sensors. These sensors serve as the eyes and ears of our robot, enabling it to detect the
presence of individuals and respond dynamically. By side stepping the complexities
of artificial intelligence, our project aims to deliver a responsive, user-friendly
solution tailored to specific environment. As we navigate through the intricacies of
this project, the spot light is on crafting the fabric of daily life. The trio of the ultrasonic
sensors signifies the commitment to practicality, ensuring reliable performance
without the need for advanced cognitive process.
1.1 Problem Statement

The problem to be addressed is the design and development of an autonomous
human-following robot tailored to meet the unique mobility and accessibility needs
of individuals with disabilities. This robot should be capable of safety and effectively
tracking and following a disabled user in diverse environments, providing valuable
assistance, and enhancing their independence and quality of life.
DepartmentofMechanicalEngineering,TCE,Gadag-582 101 Page1

CHAPTER 2
OBJECTIVES
1. Person Tracking: Develop a system using three ultrasonic sensors

foraccurate person detection and tracking.
2. Autonomous Navigation: Implement algorithms for the robot to

autonomously adjust movement in response to the detected person.
3. User-Friendly Design: Design the robot with simplicity in mind,

making it accessible for use in hospitals, schools, and shopping malls.
4. Reliability and Responsiveness: Minimize false detections and

delays toenhance the robot's reliability in practical scenarios.

CHAPTER 3
LITERATURE SURVEY
 Human Following Robots for Social Interaction" by Springer: This paper
delves into the social aspects of human-following robots, exploring their
potential for companionship, entertainment, and assistance in public
spaces.
 "A Multi-Sensor Fusion Based Human Following Robot for Indoor

Environments" by IEEE Access: This article investigates the use of
multiple sensors in combination (e.g., ultrasonic and LiDAR) for robust
and accurate human tracking within indoor environments.
 "Human-Robot Interaction with a Person-Following Robot: A Case

Study in a Hospital Setting" by ACM Transactions on Human-Computer
Interaction: This paper focuses on human-robot interaction in a hospital
environment, analyzing user acceptance and potential applications of
person-following robots in healthcare.
 "Development of a Human-Following Robot with a Focus on Safety and

Obstacle Avoidance" by International Journal of Advanced Robotic
Systems: This study emphasizes safety considerations in human-
following robots, discussing collision avoidance algorithms and sensor
configurations for safe navigation.
 "Deep Learning for Human Pose Estimation and Tracking in Robot

Following Applications" by axis: This paper explores the potential of
deep learning techniques for accurate human pose estimation and
tracking, enabling the robot to understand and respond to the user's
movements.

CHAPTER 4
PROPOSED METHODOLOGY
 Working :
In the operational sequence of the person-following robot, the process

commences with the deployment of three strategically placed ultrasonic
sensors. These sensors act as the robot's sensory apparatus, continuously
emitting ultrasonic waves and gauging the time taken for the waves to
bounce back upon encountering an object. As a person enters the detection
range of any sensor, the microcontroller, an Arduino UNO in this case,
interprets the sensor data to identify both the presence and direction of the
individual. The robot then dynamically adjusts its movement direction
based on the detected person's location, employing the L293D motor
driver to control the speed and direction of its motors. The result is an
autonomous and responsive robot capable of following the person within
its vicinity. Real-time feedback is facilitated through an LCD display,
offering information such as distance measurements and mode indicators.

 CONSTRUCTION:
BLOCK DIAGRAM:
Fig. 4.1 Block Diagram Of Human-Following Robot
HARDWARE REQUIREMENTS: SOFTWARE REQUIREMENTS:

1. Arduino UNO 1. Eagle
2. Ultrasonic Sensor,(3 units) 2. Proteus
3. Buzzer 3. Arduino id
4. LCD display
5. L293d ic (motor driver )
6. Dc motor
7. Transformer
8. Rectifier
9. Regulator
10. PCB (Printed Circuit Board)
11. Power Supply Component.

CHAPTER 5
EXPECTED OUTCOMES
1. Healthcare Assistance: Follows medical professionals, transports
supplies in hospitals.
2. Retail Support: Assists shoppers, provides information, and guides
inmalls.
3. Warehousing Helper: Assists in inventory management, follows
workersin warehouses.
4. Entertainment Character: Interactive character in theme parks,
followsand engages with visitors.
5. Event Management: Assists in events by following organizers,
carryingdocuments.

References
1) Ng, Yen Leng, Cheng Siong Lim, Kumaresan A. Danapalasingam, Michael Loong
Peng Tan, and Chee Wei Tan. "Automatic human guided shopping trolley with
smart shopping system. " Journal Technology 73, no. 3 (2015).
2) K.Morioka,J.H.Lee,andH.Hashimoto,―Huma n -following mobile robot in

distributed intelligent sensor network,‖IEEE Trans. Ind. Electron., vol. 51, no. 1,
pp.229–237, Feb. 2004.
3) R. Muñoz-Salinas E. Aguirre, and M. García-Silvente, ―People detection andtracking

using stereo vision and color ,‖Image Vis. Comput.,vol. 25, no. 6, pp 995–1007,
2017
4) J.H.Lee, T.Tsubouchi, K.Yamamoto, and S. Egawa, ―Human Tracking Using a

Robot in Motion with Laser Range Finder,‖ in 2006 IEEE/RSJ International
Conference on Intelligent Robots and Systems, 2006, pp. 2936–2942.
5) J. SatakeandJ. Miura, ―Robust stereo-based person detection and tracking for a

person following a robot,‖ in ICRA Workshop on People Detection and Tracking,
2009.
6) M. Lindstrom and J. O. Eklundh, ―Detecting and tracking moving objects from a

mobile platform using a laser range scanner,‖ in 2001 IEEE/RSJ International
Conference on
7) Intelligent Robots and Systems, 2001.Proceedings, 2001,vol. 3, pp.1364– 1369

vol.3.
8) Leo Louis, ―Working Principle of Arduino and using it as a tool for Study and
Research‖, 2018, International Journal of Control, Automation,
Communication and Systems (IJCACS).


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HUMAN FOLLOWING ROBOT

1.1 Problem Statement

DepartmentofMechanicalEngineering,TCE,Gadag-582 101 Page1

1. Person Tracking: Develop a system using three ultrasonic sensors

2. Autonomous Navigation: Implement algorithms for the robot to

3. User-Friendly Design: Design the robot with simplicity in mind,

4. Reliability and Responsiveness: Minimize false detections and

DepartmentofMechanicalEngineering,TCE,Gadag-582 101 Page2

 "A Multi-Sensor Fusion Based Human Following Robot for Indoor

 "Human-Robot Interaction with a Person-Following Robot: A Case

 "Development of a Human-Following Robot with a Focus on Safety and

 "Deep Learning for Human Pose Estimation and Tracking in Robot

DepartmentofMechanicalEngineering,TCE,Gadag-582 101 Page3

In the operational sequence of the person-following robot, the process

DepartmentofMechanicalEngineering,TCE,Gadag-582 101 Page4

Fig. 4.1 Block Diagram Of Human-Following Robot

HARDWARE REQUIREMENTS: SOFTWARE REQUIREMENTS:

DepartmentofMechanicalEngineering,TCE,Gadag-582 101 Page5

DepartmentofMechanicalEngineering,TCE,Gadag-582 101 Page6

2) K.Morioka,J.H.Lee,andH.Hashimoto,―Huma n -following mobile robot in

3) R. Muñoz-Salinas E. Aguirre, and M. García-Silvente, ―People detection andtracking

4) J.H.Lee, T.Tsubouchi, K.Yamamoto, and S. Egawa, ―Human Tracking Using a

5) J. SatakeandJ. Miura, ―Robust stereo-based person detection and tracking for a

6) M. Lindstrom and J. O. Eklundh, ―Detecting and tracking moving objects from a

7) Intelligent Robots and Systems, 2001.Proceedings, 2001,vol. 3, pp.1364– 1369

DepartmentofMechanicalEngineering,TCE,Gadag-582 101 Page7

DepartmentofMechanicalEngineering,TCE,Gadag-582 101 Page8

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