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

被引：37

作者：

Coulaud, Jean-Baptiste ^{[1
]}

Campion, Guy ^{[1
]}

Bastin, Georges ^{[1
]}

De Wan, Michel ^{[1
]}

机构：

[1] Catholic Univ Louvain, CESAME, B-1348 Louvain, Belgium

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2006年 / 22卷 / 05期

关键词：

control-design analysis; mobile robot; path tracking; visual servoing;

D O I：

10.1109/TRO.2006.878934

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：1062 / 1069

页数：8

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