제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
- /
- Pages.91.4-91
- /
- 2001
Visual Control of Mobile Robots Using Multisensor Fusion System
초록
In this paper, a development of the sensor fusion algorithm for a visual control of mobile robot is presented. The output data from the visual sensor include a time-lag due to the image processing computation. The sampling rate of the visual sensor is considerably low so that it should be used with other sensors to control fast motion. The main purpose of this paper is to develop a method which constitutes a sensor fusion system to give the optimal state estimates. The proposed sensor fusion system combines the visual sensor and inertial sensor using a modified Kalman filter. A kind of multi-rate Kalman filter which treats the slow sampling rate ...
키워드