전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제60권8호
  • /
  • Pages.1577-1585
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  • 2011
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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마커인식과 혼합 비주얼 서보잉 기법을 통한 이동로봇의 자세 안정화 제어

Posture Stabilization Control for Mobile Robot using Marker Recognition and Hybrid Visual Servoing

  • 이성구 (아주대 공대 전자공학부) ;
  • 권지욱 (아주대 공대 전자공학부) ;
  • 홍석교 (아주대 공대 전자공학부) ;
  • 좌동경 (아주대 공대 전자공학부)
  • 투고 : 2011.06.14
  • 심사 : 2011.07.11
  • 발행 : 2011.08.01
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초록

This paper proposes a posture stabilization control algorithm for a wheeled mobile robot using hybrid visual servo control method with a position based and an image based visual servoing (PBVS and IBVS). To overcome chattering phenomena which were shown in the previous researches using a simple switching function based on a threshold, the proposed hybrid visual servo control law introduces the fusion function based on a blending function. Then, the chattering problem and rapid motion of the mobile robot can be eliminated. Also, we consider the nonlinearity of the wheeled mobile robot unlike the previous visual servo control laws using linear control methods to improve the performances of the visual servo control law. The proposed posture stabilization control law using hybrid visual servoing is verified by a theoretical analysis and simulation and experimental results.

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참고문헌

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피인용 문헌

  1. Objects Tracking of the Mobile Robot Using the Hybrid Visual Servoing vol.21, pp.8, 2015, https://doi.org/10.5302/J.ICROS.2015.14.0134