DocumentCode
1506773
Title
Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system
Author
Dixon, Warren E. ; Dawson, Darren M. ; Zergeroglu, Erkan ; Behal, Aman
Author_Institution
Robotics & Process Syst. Div., Oak Ridge Nat. Lab., TN, USA
Volume
31
Issue
3
fYear
2001
fDate
6/1/2001 12:00:00 AM
Firstpage
341
Lastpage
352
Abstract
This paper considers the problem of position/orientation tracking control of wheeled mobile robots via visual servoing in the presence of parametric uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertain camera and mechanical parameters and ensures global asymptotic position/orientation tracking. Simulation and experimental results are included to illustrate the performance of the control law
Keywords
adaptive control; mobile robots; tracking; adaptive controller; adaptive tracking control; tracking control; uncalibrated camera system; visual servoing; wheeled mobile robot; Adaptive control; Calibration; Cameras; Control systems; Machine vision; Mobile robots; Programmable control; Robot vision systems; Uncertainty; Visual servoing;
fLanguage
English
Journal_Title
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
1083-4419
Type
jour
DOI
10.1109/3477.931519
Filename
931519
Link To Document