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Stability analysis of a vision-based control design for an autonomous mobile robot

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4 Author(s)
Coulaud, J.-B. ; CESAME/UCL, Louvain-la-Neuve ; Campion, G. ; Bastin, G. ; De Wan, M.

We propose a simple control design allowing a mobile robot equipped with a camera to track a line on the ground. The control algorithm, as well as the image-processing algorithm, are very simple. We discuss the existence and the practical stability of an equilibrium trajectory of the robot when tracking a circular reference line. We then give a complementary analysis for arbitrary reference lines with bounded curvature. Experimental results confirm the theoretical analysis

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Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 5 )