Image-based path following and target tracking control for a mobile robot

In this paper, we design and implement image-based control schemes for a mobile robot using a stereo pinhole camera. Employing various image processing techniques, the control algorithms are developed to allow the robot to follow a path and to track a target ball based on visual feedback. We first present the perspective camera and image model for robot and give the general image-based visual control algorithm. Then, further details on the image processing techniques used, the camera used, and how to implement stereo-vision in a system, are provided, followed by the discussion on the robot platform, the software used, and the setup of the experiments. Finally, the experimental results are covered and some conclusions are drawn.