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http://dx.doi.org/10.5370/KIEEP.2011.60.2.063

Vision Based Mobile Robot Control  

Kim, Jin-Hwan (인하공업전문대학 전기정보과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers P / v.60, no.2, 2011 , pp. 63-67 More about this Journal
Abstract
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.
Keywords
IBVS; Formation; Mobile Robot;
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