Distributed Active-Vision Network-Space Approach for Trajectory Tracking and Obstacle Avoidance of a Car-Like Mobile Robot

In this paper, the trajectory tracking and obstacle avoidance for a car-like mobile robot (CLMR) within distributed active-vision network-space system (DAVNSS) via three fuzzy variable structure decentralized controls (FVSDCs) is developed. To implement trajectory tracking and obstacle avoidance, two distributed wireless CCD (charge-coupled device) cameras individually driven by two stepping motors, i.e., active CCD1 and active CCD2 (or ACCD1 and ACCD2), are constructed to capture the dynamic pose of the CLMR or obstacle. The proposed control system includes quad-processors with multiple sampling rates. One personal computer is first employed to receive the image of the CLMR or obstacle from ACCD1 or ACCD2 by wireless transmitter, and then to plan three reference commands for the CLMR, ACCD1, and ACCD2, which are individually received by three digital signal processors (DSPs). The six-step image processing and the calibration between the world coordinate and the image plane coordinate using multilayer perceptrons (MLP) are established. Finally, a sequence of experiments is carried out to confirm the performance of the proposed control system.