제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Development of Vision Based Steering System for Unmanned Vehicle Using Robust Control

  • Jeong, Seung-Gweon (The Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Lee, Chun-Han (The Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Park, Gun-Hong (The Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Shin, Taek-Young (The Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Kim, Ji-Han (The Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Lee, Man-Hyung (The Department of Mechanical and Intelligent Systems Engineering, Pusan National University)
  • 발행 : 2003.10.22
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, the automatic steering system for unmanned vehicle was developed. The vision system is used for the lane detection system. This paper defines two modes for detecting lanes on a road. First is searching mode and the other is recognition mode. We use inverse perspective transform and a linear approximation filter for accurate lane detections. The PD control theory is used for the design of the controller to compare with $H_{\infty}$ control theory. The $H_{\infty}$ control theory is used for the design of the controller to reduce the disturbance. The performance of the PD controller and $H_{\infty}$ controller is compared in simulations and tests. The PD controller is easy to tune in the test site. The $H_{\infty}$ controller is robust for the disturbances in the test results.

키워드