Vision-Based Decision Tree Controller Design Method Sensorless Application by using Angle Knowledge
Küçük Resim Yok
Tarih
2016
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Ieee
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this study, a new control model for differential drive mobile robots was developed by using image-based decision tree method(DTM). Developed mobile robot control model was designed in an obstacle-free environment. The wheel encoder sensor was designed as a controller capable of independent positioning by using real-time images from overhead cameras on the bird's eye view. In this new method, a virtual triangular area between the target and the robot was created. These triangular base angles were calculated on the image. Decision tree controller was determined as the difference between the base angles by branching. Decision Tree leaves control determines the left and right wheel speeds depending on the difference model design was carried out. The developed new controller model was tested on Khepera IV robot. In practice, the robot's speed and angle of the body was carried uncensored control and it was observed to find the target in different applications. Application of the results and performance of the system was shown.
Açıklama
24th Signal Processing and Communication Application Conference (SIU) -- MAY 16-19, 2016 -- Zonguldak, TURKEY
Anahtar Kelimeler
Decision trees controller model, Khepera IV, Overhead camera, Sensorless control
Kaynak
2016 24th Signal Processing and Communication Application Conference (Siu)
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
