Adaptive Visual Servoing Trajectory Tracking Control of Nonholonomic Mobile Robot With Position Estimation

This paper investigates the trajectory tracking problem of nonholonomic mobile robot in the environment where localization cannot be obtained. An adaptive visual servoing velocity controller without direct position measurement is presented in the paper. The proposed dynamic controller is based on a position estimation algorithm using feedback from encoders, inertial measurement unit (IMU) and a visual system. It is shown that the controlled mobile robot is able to track the desired trajectory. Simulation example illustrates the effectiveness of the proposed approach.