Design of Visual Servo Controller using Color Coordinate System Transformation in Mobile Robot

컬러 좌표계 변환을 이용한 이동로봇의 시각 서보 제어기의 설계

In this paper, color coordinate system transformation based visual servo controller has been considered. Mobile robot always has a position error and an orientation error resulted from wheel slipping etc.. Even more, the errors have accumulative properties. So feedback from environments is important. In this paper, by using color model faster land mark extraction can be achieved. And the global position and the orientation of mobile robot can be known by only two land marks positions in image coordinate system. Finally, the adoption of visual information in path tracking problem makes visual servo control.