Tracking control for wheeled mobile robot using RGBD sensor

This paper introduces velocity tracking control for differential wheeled mobile robot using vision information provided by a depth camera. This tracking control strategy is done into three phases. First, a depth camera mounted on the ceiling is used to collect texture and 3D shape information of the scene. Second, the piecewise 3D models generated in the previous phase and the Probabilistic Roadmap path planning algorithm (PRM) are used as an input for a robotic path planner to develop a free-obstacle path. Third, a kinematic controller is developed to track the desired path given from the path planner. Lyapunov theory is used to prove the stability of the closed loop system. Experimental results on a Pioneer P3-DX differential wheeled mobile robot and an Xtion PRO depth camera are illustrated at the end of the paper to prove the effectiveness and efficiency of the proposed tracking system.