Animation The simulations result shows the main idea of the control strategy, The Blue bars represent human’s face with a certain orientation. The green bar indicates the orthogonal line between the face’s position and its projection to the camera. The blue square represents the Omni robot car with four wheels. And the dash blue line and red line represents the human’s face trajectory and robot’s trajectory respectively.
Simulation Results Figure 11 shows that with a proper proportional and derivative gain about 40 and 20 for the orientation tracking, the robot is able to follow both human’s face position and orientation successfully. The distance between the robot is set as 150 cm. Due to the non-linearity of dynamics and coupling effect, there is a little fluctuation around the desired point. Figure 12 shows the robot without orientation controller; therefore, the robot can only do the position tracking. Figure 13 illustrates that if we begin to increase the proportional and derivative gain, the robot starts to point to the human’s frontal face with specified orientation.