DocumentCode :
3528741
Title :
Vision-based tracking control of nonholonomic mobile robots without position measurement
Author :
Kai Wang ; Yunhui Liu ; Luyang Li
Author_Institution :
Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
5265
Lastpage :
5270
Abstract :
Localization is one of the most crucial and difficult problems for motion control of mobile robots despite of tremendous research efforts made for years. This paper presents a new vision-based controller for controlling a nonholonomic mobile robot to track a desired trajectory without directly measuring its position. A novel adaptive estimator is embedded into this new controller to estimate global position of the mobile robot online using natural visual features measured by a vision system, and its orientation and velocity measured by odometry/inertia/magnetic sensors. It is proved by Lyapunov theory that the proposed controller gives rise to asymptotic tracking of a desired trajectory and convergence of the position estimation to the actual position. The experiment is conducted to validate the proposed controller.
Keywords :
Lyapunov methods; distance measurement; magnetic sensors; mobile robots; motion control; position measurement; robot vision; tracking; velocity measurement; Lyapunov theory; adaptive estimator; asymptotic tracking; global position estimation; inertia sensor; magnetic sensor; motion control; nonholonomic mobile robots; odometry; orientation measurement; trajectory tracking; velocity measurement; vision-based controller; vision-based tracking control; visual features; Estimation; Mobile robots; Position measurement; Robot kinematics; Robot sensing systems; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6631330
Filename :
6631330
Link To Document :
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