Intelligent trajectory planner and generalised proportional integral control for two carts equipped with a red-green-blue depth sensor on a circular rail

This paper introduces an intelligent trajectory generator and a generalised proportional integral (GPI) control law for the movement of two carts on a circular motorised rail. The objective is to continuously monitor a person performing physical rehabilitation exercises and moving freely inside the circle. Each cart is equipped with an red-green-blue depth (RGB-D) device so that the patient is monitored from two points of view. One RGB-D device...