| Title |
Posture Stabilization Control for Mobile Robot using Marker Recognition and Hybrid Visual Servoing |
| Authors |
이성구(Lee, Sung-Goo) ; 권지욱(Kwon, Ji-Wook) ; 홍석교(Hong, Suk-Kyo) ; 좌동경(Chwa, Dong-Kyoung) |
| DOI |
https://doi.org/10.5370/KIEE.2011.60.8.1577 |
| Keywords |
Vision system ; Mobile robot ; Stabilization control ; Marker recognition |
| 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. |