Arbitrary trajectory tracking of a mobile robot by an image-based fuzzy controller

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Most of conventional mobile robot control methods have controlled robots based on their positions that are measured by some kinds of position estimation methods. On the other hand, humans decide their behavior based on mainly visual information without their accurate positions usually. Image-based visual servoings (IBVS) seem to be human approaches in the viewpoint that they control robots based on information of camera images without using robot positions. This paper proposes a method for tracking an arbitrary trajectory drawn on a floor by an IBVS method. A fuzzy controller is designed to determine control inputs from parameters of a linearized target trajectory on captured images. The proposed method is evaluated through some simulation experiments.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages160-165
Number of pages6
Publication statusPublished - 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: Aug 20 2012Aug 23 2012

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period8/20/128/23/12

Fingerprint

Mobile robots
Visual servoing
Trajectories
Robots
Controllers
Cameras
Experiments

Keywords

  • Fuzzy control
  • Imabe-based visual servoing (IBVS)
  • Trajectory tracking

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Kato, T., Watanabe, K., & Maeyama, S. (2012). Arbitrary trajectory tracking of a mobile robot by an image-based fuzzy controller. In Proceedings of the SICE Annual Conference (pp. 160-165). [6318426]

Arbitrary trajectory tracking of a mobile robot by an image-based fuzzy controller. / Kato, Tatsuya; Watanabe, Keigo; Maeyama, Shoichi.

Proceedings of the SICE Annual Conference. 2012. p. 160-165 6318426.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kato, T, Watanabe, K & Maeyama, S 2012, Arbitrary trajectory tracking of a mobile robot by an image-based fuzzy controller. in Proceedings of the SICE Annual Conference., 6318426, pp. 160-165, 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012, Akita, Japan, 8/20/12.
Kato T, Watanabe K, Maeyama S. Arbitrary trajectory tracking of a mobile robot by an image-based fuzzy controller. In Proceedings of the SICE Annual Conference. 2012. p. 160-165. 6318426
Kato, Tatsuya ; Watanabe, Keigo ; Maeyama, Shoichi. / Arbitrary trajectory tracking of a mobile robot by an image-based fuzzy controller. Proceedings of the SICE Annual Conference. 2012. pp. 160-165
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