Referenced Items are not available for this document.
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
Published in:
Robotics, IEEE Transactions on
(Volume:22
,
Issue:
5
)
Date of Publication: Oct. 2006
- Page(s):
- 1062 - 1069
- ISSN :
- 1552-3098
- INSPEC Accession Number:
- 9103558
- Digital Object Identifier :
- 10.1109/TRO.2006.878934
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 02 October 2006
- Issue Date :
- Oct. 2006
- Sponsored by :
- IEEE Robotics and Automation Society
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