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 publication2012 Proceedings of SICE Annual Conference, SICE 2012
PublisherSociety of Instrument and Control Engineers (SICE)
Pages160-165
Number of pages6
ISBN (Print)9781467322591
Publication statusPublished - Jan 1 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

Publication series

NameProceedings of the SICE Annual Conference

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

Keywords

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

ASJC Scopus subject areas

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

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  • Cite this

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