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 - Dec 1 2011
Event16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan
Duration: Jan 27 2011Jan 29 2011

Publication series

NameProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11

Other

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

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

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  • 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). (Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11).