By Topic

Image-based visual adaptive tracking control of nonholonomic mobile robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
H. Y. Wang ; Graduate Sch. of Informatics, Kyoto Univ., Japan ; S. Itani ; T. Fukao ; N. Adachi

A novel image-based visual approach for controlling nonholonomic mobile robots to track a moving target is presented. The mobile robot is endowed with a fixed camera, and a visual feedback controller is used to control the mobile robot to track a moving target of interest. A three dimensional state space representation of the camera-target visual interaction model fully defined in the image plane is used. In the case of an unknown height moving target symbol traced by camera, the global stability is proved using an adaptive backstepping control law. Based on the Lyapunov direct method, the closed-loop stability is guaranteed. Experimental results of a mobile robot with two actuated wheels equiped with a fixed camera are provided for illustrating the tracking ability of the controller

Published in:

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

2001