카메라 영상기반 전방향 이동 로봇의 제어

In this paper, an image-based visual servo control strategy for tracking a target object is applied to a camera-mounted omni-directional mobile robot. In order to get target angular velocity of each wheel from image coordinates of the target object,in general, a mathematical image Jacobian matrix is built using a camera model and a mobile robot kinematics. Unlike to thewell-known mathematical image Jacobian, a simple rule-based control strategy is proposed to generate target angular velocitiesof the wheels in conjunction with size of the target object captured in a camera image. A camera image is divided intoseveral regions, and a pre-defined rule corresponding to the target-located image region is applied to generate target angularvelocities of wheels. The proposed algorithm is easily implementable in that no mathematical description for image Jacobianis required and a small number of rules are sufficient for target tracking. Experimental results are presented with descriptionsabout the overall experimental system.