• 제목/요약/키워드: 계층적 행동 제어기

검색결과 1건 처리시간 0.01초

독립 비젼 시스템 기반의 축구로봇을 위한 계층적 행동 제어기 (A Hierarchical Motion Controller for Soccer Robots with Stand-alone Vision System)

  • 이동일;김형종;김상준;장재완;최정원;이석규
    • 한국정밀공학회지
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    • 제19권9호
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    • pp.133-141
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    • 2002
  • In this paper, we propose a hierarchical motion controller with stand-alone vision system to enhance the flexibility of the robot soccer system. In addition, we simplified the model of dynamic environments of the robot using petri-net and simple state diagram. Based on the proposed model, we designed the robot soccer system with velocity and position controller that includes 4-level hierarchically structured controller. Some experimental results using the stand-alone vision system from host system show improvement of the controller performance by reducing processing time of vision algorithm.