TY - GEN
T1 - Trajectory tracking control of mobile robots by an image-based fuzzy controller
AU - Kato, Tatsuya
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
PY - 2011/1/1
Y1 - 2011/1/1
N2 - 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.
AB - 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.
KW - Fuzzy controller
KW - Image-based control
KW - Trajectory tracking
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M3 - Conference contribution
AN - SCOPUS:81255184281
SN - 9784907764395
T3 - Proceedings of the SICE Annual Conference
SP - 1309
EP - 1313
BT - SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PB - Society of Instrument and Control Engineers (SICE)
T2 - 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
Y2 - 13 September 2011 through 18 September 2011
ER -