Trajectory tracking control of mobile robots by an image-based fuzzy controller

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama

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

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 mobile robot. Especially, a fuzzy controller is adopted to cope with time-varying robot speeds, which are usually assumed to be constant. Simulation 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.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages1309-1313
Number of pages5
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period9/13/119/18/11

Fingerprint

Mobile robots
Trajectories
Robots
Controllers
Cameras
Experiments

Keywords

  • Fuzzy controller
  • Image-based control
  • Trajectory tracking

ASJC Scopus subject areas

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

Cite this

Kato, T., Watanabe, K., & Maeyama, S. (2011). Trajectory tracking control of mobile robots by an image-based fuzzy controller. In Proceedings of the SICE Annual Conference (pp. 1309-1313). [6060537]

Trajectory tracking control of mobile robots by an image-based fuzzy controller. / Kato, Tatsuya; Watanabe, Keigo; Maeyama, Shoichi.

Proceedings of the SICE Annual Conference. 2011. p. 1309-1313 6060537.

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

Kato, T, Watanabe, K & Maeyama, S 2011, Trajectory tracking control of mobile robots by an image-based fuzzy controller. in Proceedings of the SICE Annual Conference., 6060537, pp. 1309-1313, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 9/13/11.
Kato T, Watanabe K, Maeyama S. Trajectory tracking control of mobile robots by an image-based fuzzy controller. In Proceedings of the SICE Annual Conference. 2011. p. 1309-1313. 6060537
Kato, Tatsuya ; Watanabe, Keigo ; Maeyama, Shoichi. / Trajectory tracking control of mobile robots by an image-based fuzzy controller. Proceedings of the SICE Annual Conference. 2011. pp. 1309-1313
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