전기학회논문지P (The Transactions of the Korean Institute of Electrical Engineers P)

  • 제60권2호
  • /
  • Pages.63-67
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  • 2011
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  • 1229-800X(pISSN)
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  • 2586-7792(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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이동 로봇의 비젼 기반 제어

Vision Based Mobile Robot Control

  • 김진환 (인하공업전문대학 전기정보과)
  • 투고 : 2011.01.31
  • 심사 : 2011.03.12
  • 발행 : 2011.06.01
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초록

This paper presents the mobile robot control based on vision system. The proposed vision based controller consist of the camera tracking controller and the formation controller. Th e camera controller has the adaptive gain based on IBVS. The formation controller which is designed in the sense of the Lyapunov stability follows the leader. Simluation results show that the proposed vision based mobile robot control is validated for indoor mobile robot applications.

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참고문헌

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