Image-based visual adaptive tracking control of nonholonomic mobile robots

Author

Wang, H.Y. ; Itani, S. ; Fukao, T. ; Adachi, N.

Author_Institution

Graduate Sch. of Informatics, Kyoto Univ., Japan

Volume

1

fYear

2001

fDate

2001

Firstpage

1

Abstract

A novel image-based visual approach for controlling nonholonomic mobile robots to track a moving target is presented. The mobile robot is endowed with a fixed camera, and a visual feedback controller is used to control the mobile robot to track a moving target of interest. A three dimensional state space representation of the camera-target visual interaction model fully defined in the image plane is used. In the case of an unknown height moving target symbol traced by camera, the global stability is proved using an adaptive backstepping control law. Based on the Lyapunov direct method, the closed-loop stability is guaranteed. Experimental results of a mobile robot with two actuated wheels equiped with a fixed camera are provided for illustrating the tracking ability of the controller

Keywords

Lyapunov methods; adaptive control; feedback; mobile robots; robot vision; stability; state-space methods; target tracking; Lyapunov direct method; adaptive control; backstepping; feedback; mobile robot; nonholonomic robots; stability; state space representation; target tracking; visual servoing; visual tracking; Adaptive control; Backstepping; Cameras; Mobile robots; Programmable control; Robot control; Robot vision systems; Stability; State-space methods; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.973327

Filename

973327