Design and modeling of an image stabilizing device for small unmanned ground vehicle

摘要

This paper addresses about an image stabilizing device for small unmanned ground vehicle (SUGV). Most SUGV's have innate purpose of operating in harsh conditions where human can hardly visit, e.g., mountain area, crashed building and so on. In those environments, terrain is not normally flat and even. Therefore, various types of vibrations are incurred to SUGV which leads to fuzzy image output to operator, so the operator suffers from the remote control. Furthermore, the vibration is escalated as the SUGV moves faster. The primary purpose of this study is to reject those vibrations from the robot to the image capturing device. Throughout the sensor measurement during the SUGV operation, we found out that the vibration is significant in roll and pitch axis of the robot. From this point, we have made an effort to develop an image stabilizing device that is suitable for SUGV. This paper focuses about the design and modeling process as an early step of image stabilizer development. In this paper, the design approach and result is presented, and the dynamic model is derived for later controller design.