An RGB-D visual feedback controller for a differential drive attachable wheel system

Mohd Faisal Ibrahim, Farhan Zulkifli, Mohamad Rafiq Husaini Mohd Nizam, Aqilah Baseri Huddin, Aini Hussain

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Fatalities of children due to trip over from strollers are a major concern of childhood safety. This work proposes an attachable mini-wheel system of a stroller to enhance the safety of stroller handling. The system allows a conventional stroller to move autonomously in response to the position and distance of a parent via a visual feedback controller. Visual information is received from an RGB-D camera that provides RGB images and depth array data. Both data are processed by an embedded microcontroller to detect parent's position and distance from a stroller. The processed data are then passed to the PI control module to control DC motors of the differential drive type mini-wheel system. The experimental results show that the system works significantly with the ability of the system to track a given trajectory.

Original languageEnglish
Title of host publicationProceedings of the 2017 6th International Conference on Electrical Engineering and Informatics
Subtitle of host publicationSustainable Society Through Digital Innovation, ICEEI 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-7
Number of pages7
Volume2017-November
ISBN (Electronic)9781538604755
DOIs
Publication statusPublished - 9 Mar 2018
Event6th International Conference on Electrical Engineering and Informatics, ICEEI 2017 - Langkawi, Malaysia
Duration: 25 Nov 201727 Nov 2017

Other

Other6th International Conference on Electrical Engineering and Informatics, ICEEI 2017
CountryMalaysia
CityLangkawi
Period25/11/1727/11/17

Fingerprint

Sensory Feedback
Wheel
Wheels
Feedback
Controller
Safety
Controllers
Aptitude
DC motors
Microcontrollers
Parents
Cameras
Trajectories
PI Control
DC Motor
Microcontroller
Camera
Vision
Drive
Trajectory

Keywords

  • attachable wheels
  • PI control
  • RGB-D camera
  • visual feedback control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization
  • Computer Networks and Communications
  • Computer Vision and Pattern Recognition
  • Information Systems
  • Software
  • Electrical and Electronic Engineering
  • Health Informatics

Cite this

Ibrahim, M. F., Zulkifli, F., Nizam, M. R. H. M., Huddin, A. B., & Hussain, A. (2018). An RGB-D visual feedback controller for a differential drive attachable wheel system. In Proceedings of the 2017 6th International Conference on Electrical Engineering and Informatics: Sustainable Society Through Digital Innovation, ICEEI 2017 (Vol. 2017-November, pp. 1-7). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICEEI.2017.8312465

An RGB-D visual feedback controller for a differential drive attachable wheel system. / Ibrahim, Mohd Faisal; Zulkifli, Farhan; Nizam, Mohamad Rafiq Husaini Mohd; Huddin, Aqilah Baseri; Hussain, Aini.

Proceedings of the 2017 6th International Conference on Electrical Engineering and Informatics: Sustainable Society Through Digital Innovation, ICEEI 2017. Vol. 2017-November Institute of Electrical and Electronics Engineers Inc., 2018. p. 1-7.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ibrahim, MF, Zulkifli, F, Nizam, MRHM, Huddin, AB & Hussain, A 2018, An RGB-D visual feedback controller for a differential drive attachable wheel system. in Proceedings of the 2017 6th International Conference on Electrical Engineering and Informatics: Sustainable Society Through Digital Innovation, ICEEI 2017. vol. 2017-November, Institute of Electrical and Electronics Engineers Inc., pp. 1-7, 6th International Conference on Electrical Engineering and Informatics, ICEEI 2017, Langkawi, Malaysia, 25/11/17. https://doi.org/10.1109/ICEEI.2017.8312465
Ibrahim MF, Zulkifli F, Nizam MRHM, Huddin AB, Hussain A. An RGB-D visual feedback controller for a differential drive attachable wheel system. In Proceedings of the 2017 6th International Conference on Electrical Engineering and Informatics: Sustainable Society Through Digital Innovation, ICEEI 2017. Vol. 2017-November. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1-7 https://doi.org/10.1109/ICEEI.2017.8312465
Ibrahim, Mohd Faisal ; Zulkifli, Farhan ; Nizam, Mohamad Rafiq Husaini Mohd ; Huddin, Aqilah Baseri ; Hussain, Aini. / An RGB-D visual feedback controller for a differential drive attachable wheel system. Proceedings of the 2017 6th International Conference on Electrical Engineering and Informatics: Sustainable Society Through Digital Innovation, ICEEI 2017. Vol. 2017-November Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1-7
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