Path-following control for mobile robots localized via sensor-fused visual homography

Author

Satici, Aykut C ; Tick, David ; Jinglin Shen ; Gans, Nicholas

Author_Institution

Dept. of Electr. Eng., Univ. of Texas at Dallas, Dallas, TX, USA

fYear

2013

fDate

17-19 June 2013

Firstpage

6287

Lastpage

6293

Abstract

This paper presents a novel navigation and control system for wheeled mobile robots that includes path planning, localization, and control. A path following control system is introduced that is capable of guiding and keeping the robot on a designated curve. Localization and velocity estimation are provided by a unique sensor fusion algorithm that incorporates vision, IMU and wheel encoder data. Stability analysis is provided for the control system, and experimental results are presented that prove the combined localization and control system performs with high accuracy.

Keywords

estimation theory; mobile robots; navigation; path planning; position control; robot vision; sensor fusion; stability; velocity control; IMU; designated curve; localization; navigation; path following control system; path planning; path-following control; sensor fusion algorithm; sensor-fused visual homography; stability analysis; velocity estimation; wheel encoder data; wheeled mobile robots; Cameras; Estimation; Mobile robots; Robot kinematics; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2013

Conference_Location

Washington, DC

ISSN

0743-1619

Print_ISBN

978-1-4799-0177-7

Type

conf

DOI

10.1109/ACC.2013.6580824

Filename

6580824