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

共 50 条

[21] Vision-based object tracking method of mobile robot [J].

Yu D. ;

Wang Y. ;

Mao J. ;

Zheng H. ;

Zhou X. .

Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument, 2019, 40 (01) :227-235

[22] A review on vision-based control of robot manipulators [J].

Hashimoto, K .

ADVANCED ROBOTICS, 2003, 17 (10) :969-991

[23] A practical design towards vision-based self-localization system for mobile robot [J].

Wang, Ke ;

Zhuang, Yan ;

Wang, Wei .

2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, :688-693

[24] Design of an optimal control for an autonomous mobile robot [J].

Gutierrez-Arias, E. M. ;

Flores-Mena, J. E. ;

Morin-Castillo, M. M. ;

Suarez-Ramirez, H. .

REVISTA MEXICANA DE FISICA, 2011, 57 (01) :75-83

[25] Vision-based formation control of mobile robots [J].

Shicai Liu ;

Dalong Tan ;

Guangjun Liu .

Journal of Control Theory and Applications, 2005, 3 (2) :173-180

[26] Autonomous Manipulator of a Mobile Robot Based on a Vision System [J].

Annusewicz-Mistal, Anna ;

Pietrala, Dawid Sebastian ;

Laski, Pawel Andrzej ;

Zwierzchowski, Jaroslaw ;

Borkowski, Krzysztof ;

Bracha, Gabriel ;

Borycki, Kamil ;

Kostecki, Szczepan ;

Wlodarczyk, Daniel .

APPLIED SCIENCES-BASEL, 2023, 13 (01)

[27] Vision-based formation control of mobile robots [J].

Shicai LIU Dalong TAN Guangjun LIU Shenyang Institute of AutomationChinese Academy of SciencesShenya ng Liaoning ChinaGraduate SchoolChinese Academy of SciencesBeijing ChinaDepartment of Aerospace EngineeringRyerson UniversityTorontoCanada MB K .

JournalofControlTheoryandApplications, 2005, (02) :173-180

[28] Stability of real time control of an autonomous mobile robot [J].

Wargui, M ;

Tadjine, M ;

Rachid, A .

RO-MAN '96 - 5TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS, 1996, :311-316

[29] A Vision-Based Emergency Response System with a Paramedic Mobile Robot [J].

Jeong, Il-Woong ;

Choi, Jin ;

Cho, Kyusung ;

Seo, Yong-Ho ;

Yang, Hyun Seung .

IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS, 2010, E93D (07) :1745-1753

[30] Vision-Based Target-Following Guider for Mobile Robot [J].

Zhang, Mingyi ;

Liu, Xilong ;

Xu, De ;

Cao, Zhiqiang ;

Yu, Junzhi .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2019, 66 (12) :9360-9371

← 1 2 3 4 5 →