Paper Key : IRJ************985
Author: Rathod Aniket Namdev ,Dr. Prashant Dike,Sangale Swapnil Chandrakant,Jadhav Dnyaneshwar Balasaheb
Date Published: 09 Nov 2024
Abstract
This project focuses on the development of a human-following robot, known as Human-Trail Bot, designed toautonomously follow a specific individual in indoor or outdoor environments. The system utilizes a BLE beaconattached to the user, which the robot detects and follows through a BLE receiver, ensuring that it stays close to thedesignated person. Ultrasonic sensors and IR sensor aid in obstacle detection, preventing collisions and enabling safenavigation through crowded or dynamic spaces.To achieve accurate and responsive tracking, the project incorporates a Proportional-Integral-Derivative (PID) controlalgorithm, which adjusts the bot's speed based on the detected distance from the user, resulting in smooth and stablefollowing behavior. Kalman filtering further refines the robot's positioning by filtering out noise from sensor readings,while RSSI filtering from the BLE signal improves the reliability of distance estimates between the user and the bot.The fusion of these algorithms enables Human-Trail Bot to respond swiftly and accurately to the movements of thespecific user, ensuring reliable operation in real-world scenarios. The results indicate that this system can maintain aconsistent following distance, avoid obstacles effectively, and provide a robust solution for applications where handsfree following of individuals is required, such as in assistance robots and personal transport systems.