퍼지제어를 이용한 카메라가 장착된 이동로봇의 경로제어

• 영문명: Fuzzy Navigation Control of Mobile Robot equipped with CCD Camera
• 발행기관: 강원대학교 산업기술연구소
• 저자명: 조정태(Cho Jung Tae) 이석원(Lee Seok Won) 남부희(Nam Boo Hee)
• 간행물 정보: 『산업기술연구』vol.20, 1~6쪽, 전체 6쪽
• 주제분류: 공학 > 공학일반
• 파일형태: PDF
• 발행일자: 2000.09.30

영문 초록

This paper describes the path planning method in an unknown environment for an autonomous mobile robot equipped with CCD(Charge-Coupled Device) camera. The mobile robot moves along the guideline. The CCD camera is used for the detection of the existence of a guideline. The wavelet transform is used to find the edge of guideline. It is possible for us to do image processing more easily and rapidly by using wavelet transform. We make a fuzzy control rule using image data as an input then determined the position and the navigation of the mobile robot. The center value of guideline is the input of fuzzy logic controller and the steering angle of the mobile robot is the fuzzy controller output. Some actual experiments show that the mobile robot effectively moves to target position by means of the applied fuzzy control.

목차

Abstract

1. 서론

2. 이동로봇의 구성

3. 주행 알고리즘

4. 결론

참고문헌

키워드

퍼지 이동로봇 웨이블릿 카메라 fuzzy mobile robot wavelet camera