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양성호(Seng-Ho Yang),신석훈(Suk-Hun Shin),장영학(Young-Hak Jang),유영재(Young-Jae Ryoo) 전력전자학회 2004 전력전자학술대회 논문집 Vol.- No.-
This paper describes a lane following control of vision based mobile robot that follows guidline. Summation of binarization conversion and image data of vertical axis was used in image processing. As an extraction of specific parameters of lane image, the raw image was converted to the binary data, and the binary data was summerized to the specific data vertically. The specific parameters were made to the inputs of neural network. Summation of image data was used for input of the net, and optimized value of turn angles of learned mobile robot was output. By using neural network algorithm, possibility of mobile robot moving to the target point and following the guidlines quickly and effectively was proved.