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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Study on the Visual Servoing of Autonomous Mobile Inverted Pendulum

자율주행 모바일 역진자의 비주얼서보잉에 대한 연구

  • 이준민 (부산대학교 전자전기공학부) ;
  • 이장명 (부산대학교 전자전기공학부)
  • Received : 2012.12.07
  • Accepted : 2013.01.16
  • Published : 2013.03.01
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Abstract

This paper proposes an optimal three-dimensional coordinate implementation of the vision sensor using two CCD cameras. The PBVS (Position based visual servoing) is implemented using the positional information obtained from images. Stereo vision by PBVS method that has enhanced every frame using calibration parameters is effective in the distance calculation. The IBVS (Image based visual servoing) is also implemented using the difference between reference and obtained images. Stereo vision by IBVS method calculates the distance using rotation angle of motors that correspond eyes and neck without enhanced images. The PBVS method is compared with the IBVS method in terms of advantages, disadvantages, computing time, and performances. Finally, the IBVS method is applied for the dual arm manipulator on the mobile inverted pendulum. The autonomous mobile inverted pendulum is successfully demonstrated using the center of the manipulator's mass.

Keywords

References

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