화상처리에 의한 등곡률반경 방식의 로봇 제어

Vision steered micro robot for MIROSOT

This paper presents a robot which is steered by vision system. The proposed robot system has an AM188ES CPU(5.3 MIPS) and 2DC motors with encoder and turns accurately at any speed and shows a movement like a human controlled car using a steering wheel. To the robot only steering angle value is sent without considering the speed. We present how to control this robot using our real time vision system.