속도센서가 없는 비전시스템을 이용한 이동로봇의 목표물 추종

다국어 초록 (Multilingual Abstract)

This paper proposes a target tracking control method for wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. For the target tracking, we apply a vision system to mobile robots to obtain the relative posture information between the mobile robot and the target. The robots do not use the sensors to obtain the velocity information in this paper and therefore assumed the unknown velocities of both mobile robot and target. Instead, the proposed method uses only the maximum velocity information of the mobile robot and target. First, the pseudo command for the forward linear velocity and the heading direction angle are designed based on the kinematics by using the obtained image information. Then, the actual control inputs are designed to make the actual forward linear velocity and the heading direction angle follow the pseudo commands. Through simulations and experiments for the mobile robot we have confirmed that the proposed control method is able to track target even when the velocity sensors are not used at all.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 이동로봇의 기구학
• 3. 이동로봇의 거리기반 제어
• 4. 실험결과
• 3. 결론
• References

참고문헌 (Reference)

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