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

The Korean Institute of Electrical Engineers (대한전기학회)
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Posture Stabilization Control for Mobile Robot using Marker Recognition and Hybrid Visual Servoing

마커인식과 혼합 비주얼 서보잉 기법을 통한 이동로봇의 자세 안정화 제어

  • 이성구 (아주대 공대 전자공학부) ;
  • 권지욱 (아주대 공대 전자공학부) ;
  • 홍석교 (아주대 공대 전자공학부) ;
  • 좌동경 (아주대 공대 전자공학부)
  • Received : 2011.06.14
  • Accepted : 2011.07.11
  • Published : 2011.08.01
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Abstract

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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References

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