Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system

This paper considers the problem of position/orientation tracking control of wheeled mobile robots via visual servoing in the presence of parametric uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertai...

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Bibliographic Details
Published inIEEE transactions on systems, man and cybernetics. Part B, Cybernetics Vol. 31; no. 3; pp. 341 - 352
Main Authors Dixon, W.E., Dawson, D.M., Zergeroglu, E., Behal, A.
Format Journal Article
LanguageEnglish
Published United States IEEE 01.06.2001
Subjects
Adaptive control
Adaptive control systems
Asymptotic properties
Calibration
Cameras
Control systems
Cybernetics
Dynamical systems
Dynamics
Machine vision
Mobile robots
Orientation
Programmable control
Robot vision systems
Robots
Uncertainty
Visual servoing
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Summary:This paper considers the problem of position/orientation tracking control of wheeled mobile robots via visual servoing in the presence of parametric uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertain camera and mechanical parameters and ensures global asymptotic position/orientation tracking. Simulation and experimental results are included to illustrate the performance of the control law.
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ISSN:1083-4419
1941-0492
DOI:10.1109/3477.931519