INVESTIGADORES
NEGRI Pablo Augusto
congresos y reuniones científicas
Título:
Visión artificial y filtro de Kalman aplicados al control de un péndulo invertido
Autor/es:
DAMIÁN GARAYALDE; PABLO NEGRI
Lugar:
Bariloche
Reunión:
Congreso; ARGENCON; 2014
Institución organizadora:
IEEE
Resumen:
Machine vision systems comprise a technology whose development has grown
exponentially in recent years. These technologies not only make an
essential tool for certain applications, but also enable the
substitution of multiple mono-variable sensors (used in process
automation) for a single multi-variable sensor adquisition system. In
this paper the actual implementation of an inverted pendulum is
presented. The control loop is based on artificial vision for the
determination of position and the application of a Kalman Filter for the
estimation of complete system state. This document describes the model
of the system, its stochastic characterization, implementation of Kalman
Filter and vision system considerations aimed at improving its
robustness. Simulations and tests are presented concluding with the
comparative analysis of image-based measurement vs encoders based
measurement.