Title: Hardware and software codesign methodology for implementing algorithms of person follower robotic system

Authors: D. Sanjay; P. Rajesh Kumar; T. Satya Savithri

Addresses: Department of Electronics and Communications Engineering, B V Raju Institute of Technology, Narsapur, Medak, Telangana 502313, India ' Department of Electronics and Communications Engineering, Prasad V Potluri Siddhartha Institute of Technology, Vijayawada, Andhra Pradesh 520007, India ' Department of Electronics and Communications Engineering, JNTUH College of Engineering, Hyderabad, Telangana 500085, India

Abstract: Service sector is expecting more innovations in the field of robotics and automation due to manpower shortage, changes in society and increased level of affordability to the people. This paper presents development of an intelligent service robot to monitor activity of an elder person or differently abled person. In particular, this paper presents development of 'Person Follower Algorithms' and their implementation using hardware-software codesign methodology. This work also includes usage of adaptive neural network-based fuzzy inference system (ANFIS) for implementing a robotic task. The intelligent service robot is developed by integrating an IP camera with a NI single board rapid input output (sbRIO) which has steering ultrasonic sensor. The sbRIO is chosen to take the advantage of existing system and it is suitable for HW-software codesign. The efficacy of algorithms is validated by conducting a set of experiments in our research laboratory.

Keywords: IP camera; hardware-software codesign; ultrasonic sensor; fuzzy logic; person follower robotics algorithms; adaptive neuro fuzzy inference system; FPGA device.

DOI: 10.1504/IJMRS.2018.090274

International Journal of Mechanisms and Robotic Systems, 2018 Vol.4 No.2, pp.89 - 106

Received: 15 Aug 2016
Accepted: 25 Aug 2017
Published online: 07 Mar 2018 *

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