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 publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1309-1313
Number of pages5
ISBN (Print)9784907764395
Publication statusPublished - Jan 1 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Publication series

NameProceedings of the SICE Annual Conference

Other

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

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Keywords

  • Fuzzy controller
  • Image-based control
  • Trajectory tracking

ASJC Scopus subject areas

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

Cite this

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