Trajectory tracking control for nonholonomic mobile robots by an image-based approach

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama

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

Abstract

The vision-based control that uses cameras for observing a robot environment has been researched widely. Especially, a method called image-based control has high robust properties, because it can control a target on an image plane coordinate without using a robot position. Kurashiki et al. have already studied on an image-based control method that can realize a robust trajectory tracking. Although their objective was to control a nonholonomic mobile robot, the problem setting used there was to be little affected from the nonholonomic constraint. Further more, there were unclear points in deriving a control law. In this paper, such unclear points are explained from an geometric relation and other problem settings, which are clearly affected by a nonholonomic constraint, are proposed.

Original languageEnglish
Title of host publicationProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
Pages403-406
Number of pages4
Publication statusPublished - 2011
Event16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan
Duration: Jan 27 2011Jan 29 2011

Other

Other16th International Symposium on Artificial Life and Robotics, AROB '11
CountryJapan
CityBeppu, Oita
Period1/27/111/29/11

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Keywords

  • Image-based control
  • Nonholonomic mobile robot
  • Trajectory tracking
  • Vision-based control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Kato, T., Watanabe, K., & Maeyama, S. (2011). Trajectory tracking control for nonholonomic mobile robots by an image-based approach. In Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 (pp. 403-406)