In this system, a robot is tasked with identifying a specific individual in an image using OpenPose. The robot must keep this individual aligned along it’s own central axis.
Once the person is identified, we can obtain their center of mass (CoM) and use that as the setpoint of the PID controller. The controller outputs velocity commands to control the robot and maintain the setpoint.
It also does a pretty good job of maintaining ther person it’s supposed to track.
There are a few things that would be interesting to add on to this:
- Collision detection
- State (where did I last see this person?)
- Voice commands (“Stop following me!”)