DocumentCode
359015
Title
Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system
Author
Dixon, W.E. ; Dawson, D.M. ; Zergeroglu, E. ; Behal, A.
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Volume
3
fYear
2000
fDate
2000
Firstpage
1493
Abstract
This paper considers the problem of position orientation tracking control of wheeled mobile robots via visual serving 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
Keywords
adaptive control; asymptotic stability; mobile robots; position control; robot dynamics; robot kinematics; robot vision; servomechanisms; tracking; adaptive control; asymptotic stability; dynamics; kinematic model; orientation tracking; position control; robot vision; uncalibrated camera; visual serving; wheeled mobile robot; Adaptive control; Calibration; Cameras; Control systems; Machine vision; Mobile robots; Programmable control; Robot vision systems; Uncertainty; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2000. Proceedings of the 2000
Conference_Location
Chicago, IL
ISSN
0743-1619
Print_ISBN
0-7803-5519-9
Type
conf
DOI
10.1109/ACC.2000.879448
Filename
879448
Link To Document