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
收藏
页码：1062 / 1069
页数：8
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