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Visual tracking control of a mobile robot using a new model in image plane

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2 Author(s)
Chi-Yi Tsai ; Dept. of Electr. & Control Eng., Nat. Chiao Tung Univ., Hsinchu ; Kai-Tai Song

This paper presents a novel visual tracking model in image plane for autonomous mobile robots. Based on this control model, a single visual tracking controller is proposed for both static and moving objects in a two-dimensional plane. In this design, the mobile robot is equipped with a fixed camera for environment detection. The visual feedback is used to control the robot pose for tracking a moving object of interest. A novel state space representation of the camera-object visual interaction model fully defined in the image plane is first derived, a closed-loop stabilizing control law is then designed. The visual tracking control scheme achieves exponential convergence of the closed-loop visual tracking system through pole-placement method. Simulation results verify the effectiveness of the proposed control scheme, both in terms of tracking performance and system convergence

Published in:

Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on

Date of Conference:

18-20 July 2005