비전기술에 의한 모바일 로봇의 정밀 자세 제어 알고리즘 개발에 관한 연구

This study describe a new method to control posture and velocity for a wheeled mobile robot using visual feedback control method with a position based visual feedback. To slove the problem of vibration phenomena which were shown in the previous researches using a simple switching function based on a threshold, the proposed visual servo control law introduces the fusion function based on a blending function. The chattering problem and rapid motion of the mobile robot can be eliminated. And 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 control law using visual servoing is verified by a theoretical analysis and simulation and experimental results.