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

Fingerprint

Mobile robots
Trajectories
Robots
Cameras

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)

Trajectory tracking control for nonholonomic mobile robots by an image-based approach. / Kato, Tatsuya; Watanabe, Keigo; Maeyama, Shoichi.

Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. 2011. p. 403-406.

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

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, 16th International Symposium on Artificial Life and Robotics, AROB '11, Beppu, Oita, Japan, 1/27/11.
Kato T, Watanabe K, Maeyama S. 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. 2011. p. 403-406
Kato, Tatsuya ; Watanabe, Keigo ; Maeyama, Shoichi. / Trajectory tracking control for nonholonomic mobile robots by an image-based approach. Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. 2011. pp. 403-406
@inproceedings{bb49f86077be4ba188cfd51f2f9535bc,
title = "Trajectory tracking control for nonholonomic mobile robots by an image-based approach",
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.",
keywords = "Image-based control, Nonholonomic mobile robot, Trajectory tracking, Vision-based control",
author = "Tatsuya Kato and Keigo Watanabe and Shoichi Maeyama",
year = "2011",
language = "English",
isbn = "9784990288051",
pages = "403--406",
booktitle = "Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11",

}

TY - GEN

T1 - Trajectory tracking control for nonholonomic mobile robots by an image-based approach

AU - Kato, Tatsuya

AU - Watanabe, Keigo

AU - Maeyama, Shoichi

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

KW - Image-based control

KW - Nonholonomic mobile robot

KW - Trajectory tracking

KW - Vision-based control

UR - http://www.scopus.com/inward/record.url?scp=84866653404&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84866653404&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84866653404

SN - 9784990288051

SP - 403

EP - 406

BT - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11

ER -