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The Transactions P of the Korean Institute of Electrical Engineers

Korean Journal of Air-Conditioning and Refrigeration Engineering

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Title	Vision Based Mobile Robot Control
Authors	김진환(Kim, Jin-Hwan)
DOI	https://doi.org/10.5370/KIEEP.2011.60.2.063
Page	pp.63-67
ISSN	1229-800X
Keywords	IBVS ; Formation ; Mobile Robot
Abstract	This paper presents the mobile robot control based on vision system. The proposed vision based controller consist of the camera tracking controller and the formation controller. Th e camera controller has the adaptive gain based on IBVS. The formation controller which is designed in the sense of the Lyapunov stability follows the leader. Simluation results show that the proposed vision based mobile robot control is validated for indoor mobile robot applications.

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