Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation and Control of Crack Tracking Robot Using Force Control : Crack Detection by Laser and Camera Sensor Using Neural Network

힘제어 기반의 틈새 추종 로봇의 제작 및 제어에 관한 연구 : Part Ⅰ. 신경회로망을 이용한 레이저와 카메라에 의한 틈새 검출 및 로봇 제작

  • 조현택 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Published : 2005.04.01
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Abstract

This paper presents the implementation of a crack tracking mobile robot. The crack tracking robot is built for tracking cracks on the pavement. To track cracks, crack must be detected by laser and camera sensors. Laser sensor projects laser on the pavement to detect the discontinuity on the surface and the camera captures the image to find the crack position. Then the robot is commanded to follow the crack. To detect crack position correctly, neural network is used to minimize the positional errors of the captured crack position obtained by transformation from 2 dimensional images to 3 dimensional images.

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References

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