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Fuzzy Navigation Control of Mobile Robot equipped with CCD Camera

  • 조정태 (강원대학교 대학원 제어계측공학과) ;
  • 이석원 (강원대학교 대학원 제어계측공학과) ;
  • 남부희 (강원대학교 전기전자정보통신공학부)
  • 발행 : 2000.12.31

초록

This paper describes the path planning method in an unknown environment for an autonomous mobile robot equipped with CCD(Charge-Coupled Device) camera. The mobile robot moves along the guideline. The CCD camera is used for the detection of the existence of a guideline. The wavelet transform is used to find the edge of guideline. It is possible for us to do image processing more easily and rapidly by using wavelet transform. We make a fuzzy control rule using image data as an input then determined the position and the navigation of the mobile robot. The center value of guideline is the input of fuzzy logic controller and the steering angle of the mobile robot is the fuzzy controller output. Some actual experiments show that the mobile robot effectively moves to target position by means of the applied fuzzy control.

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