Image-based trajectory tracking with fuzzy control for nonholonomic mobile robots

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama

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

2 Citations (Scopus)

Abstract

Image-based control is one of robot control methods using a camera and it can control a robot indirectly by controlling only image information on an image plane without using the robot states. In this paper, an image-based trajectory tracking method is described for a nonholonomic mobile robot. Especially, a fuzzy controller is adopted to regard the robot speed, usually assumed to be constant, as time varying one. The controller was tested on simulation experiments. The results of the experiments show the usability of the designed fuzzy controller, giving the improvement of the control performance, such as the reduction of overshoot, the shortening of convergence time, etc. Additionally, the impact of control parameters on the robot behavior is proved in the simulations.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
Pages3299-3304
Number of pages6
DOIs
Publication statusPublished - Dec 1 2011
Event37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
Duration: Nov 7 2011Nov 10 2011

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
CountryAustralia
CityMelbourne, VIC
Period11/7/1111/10/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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