원문정보
보안공학연구지원센터(IJSIP)
International Journal of Signal Processing, Image Processing and Pattern Recognition
Vol.8 No.10
2015.10
pp.297-310
피인용수 : 0건 (자료제공 : 네이버학술정보)
초록
영어
As the wheeled mobile robot is widely used in various fields, requirements of control accuracy for wheeled mobile robot are also increasing. Vision sensors get more and more attention because they are information capacity, high efficiency, non-contact measurement. The servo control problem of robot visual has also become a research hot spot. Dividing from the number of vision sensors, visual servo system can be divided into monocular visual servo system, binocular visual servo system and multi-purpose visual servo system.
목차
Abstract
1. Introduction
2. The Kinematics Model of Mobile Robot
2.1 WMR Kinematic Model within the Tasks Space
2.2 Kinematic Model of WMR within the Image Space
2.3 Transformation from Task Space to the Image Space
3. Design of Stabilization Control Law
3.1 System Transformation
3.2 The Design of Control Law
4. Results and Analysis
4.1. Simulate by α known
4.2 Simulate by α Unknown
4.3 Simulate by α1and α2 are Unknown
5. Conclusions
References
1. Introduction
2. The Kinematics Model of Mobile Robot
2.1 WMR Kinematic Model within the Tasks Space
2.2 Kinematic Model of WMR within the Image Space
2.3 Transformation from Task Space to the Image Space
3. Design of Stabilization Control Law
3.1 System Transformation
3.2 The Design of Control Law
4. Results and Analysis
4.1. Simulate by α known
4.2 Simulate by α Unknown
4.3 Simulate by α1and α2 are Unknown
5. Conclusions
References
저자정보
참고문헌
자료제공 : 네이버학술정보