지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국지능시스템학회 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS Vol.12 No.3
- 발행연도
- 2012.9
- 수록면
- 238 - 244 (7page)
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초록· 키워드
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A modeling of vision based robot formation control system using fuzzy logic controller and extended Kalman filter is presented in this paper. The main problems affecting formation controls using fuzzy logic controller and vision based robots are: a robot’s position in a formation need to be maintained, how to develop the membership function in order to obtain the optimal fuzzy system control that has the ability to do the formation control and the noise coming from camera process changes the position of references view. In order to handle these problems, we propose a fuzzy logic controller system equipped with a dynamic output membership function that controls the speed of the robot wheels to handle the maintenance position in formation. The output membership function changes over time based on changes in input at time t-1 to t. The noises appearing in image processing change the virtual target point positions are handled by Extended Kalman filter. The virtual target positions are established in order to define the formations. The virtual target point positions can be changed at any time in accordance with the desired formation. These algorithms have been validated through simulation. The simulations confirm that the follower robots reach their target point in a short time and are able to maintain their position in the formation although the noises change the target point positions.
목차
Abstract
1. Introduction
2. The formation control system model
3. The Extended Kalman filter
4. The Fuzzy logic controller
5. Simulation result
6. Conclusion
References
참고문헌 (9)
참고문헌 신청
1. [학술대회논문] - J. S. Jennings / 1997 / Cooperative search and rescue with a team of mobile robots / Proc. International Conference on Advanced Robotics : 193 ~ 200
2. [학술지(정기간행물)] - J. P. Desai / 2001 / Modeling and control of formation of nonholonomic mobile robots / IEEE Transactions on Robotics and Automation 17 (6) : 905 ~ 908
3. [학술지(정기간행물)] - L. A. Zadeh / 1965 / Fuzzy sets / Information and control 8 : 338 ~ 353
4. [학술지(정기간행물)] - J. M. Jou / 2000 / An adaptive fuzzy logic controller : Its VLSI architecture and applications / IEEE Transactions on Very Large Scale Integration (VLSI) Systems 8 (1) : 52 ~ 60
5. [학술지(정기간행물)] - Angga Rusdinar / 2012 / Implementation of real-time positioning system using extended Kalman filter and artificial landmark on ceiling / Journal of Mechanical Science and Technology 26 (3) : 949 ~ 958
2. [학술지(정기간행물)] - J. P. Desai / 2001 / Modeling and control of formation of nonholonomic mobile robots / IEEE Transactions on Robotics and Automation 17 (6) : 905 ~ 908
3. [학술지(정기간행물)] - L. A. Zadeh / 1965 / Fuzzy sets / Information and control 8 : 338 ~ 353
4. [학술지(정기간행물)] - J. M. Jou / 2000 / An adaptive fuzzy logic controller : Its VLSI architecture and applications / IEEE Transactions on Very Large Scale Integration (VLSI) Systems 8 (1) : 52 ~ 60
5. [학술지(정기간행물)] - Angga Rusdinar / 2012 / Implementation of real-time positioning system using extended Kalman filter and artificial landmark on ceiling / Journal of Mechanical Science and Technology 26 (3) : 949 ~ 958
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UCI(KEPA) : I410-ECN-0101-2014-028-001358039