Image-based Stabilizing Control of a Nonholonomic Mobile Robot not to Go Beyond Targets

Abstract

Various control methods based on visual information have been studied for mobile robots for years. Among them, image-based control is said to have high robustness against camera calibration errors. A drawback of image-based control is that the transitional behavior of the system is difficult to predict because it is not designed in the Cartesian space but in the image plane. Especially, unfavorable transitional behavior may cause the loss of target from the sight. In this paper, a design method of the image-based stabilizing control for a nonholonomic mobile robot is proposed not to go beyond the targets by using the state transformation. The effectiveness of the proposed method is confirmed by experiments with a two-wheeled mobile robot.

Person following control for a mobile robot based on color invariance corresponding to varying illumination

“…This paper presents a model of a two wheel-type mobile robot equipped with a camera and realizes tracking control by image-based method for the robot based on [17].…”