Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2002.11c
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- Pages.173-177
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- 2002
Following Control of Wheeled Mobile Robot Using Stereo Vision Sensor
Stereo Vision을 이용한 Wheeled Mobile Robot의 선행물체 추종제어
- Yoon, Jae-Sang (Dept. of Electronic Engineering, Kyunghee University) ;
- Choi, Kyung-Jin (Dept. of Electronic Engineering, Kyunghee University) ;
- Moon, Jeng-Woo (Dept. of Electronic Engineering, Kyunghee University) ;
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Park, Chong-Kug
(Dept. of Electronic Engineering, Kyunghee University)
- Published : 2002.11.30
Abstract
This paper describes the algorithm for WMR (Wheeled Mobile Robot) to follow the preceding object using stereo vision. The center point of object existing in each image is calculate. From the distance and variation of two center points, we calculates the distance from WMR to preceding object and the relative velocity of WMR. And we use the Lyapunov theory to design controller.
Keywords