The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Target Tracking Control of Mobile Robots with Vision System in the Absence of Velocity Sensors

속도센서가 없는 비전시스템을 이용한 이동로봇의 목표물 추종

  • Cho, Namsub (Dept. of Electrical and Computer Engineering, Ajou University) ;
  • Kwon, Ji-Wook (Dept. of Electronic Engineering, Chosun University) ;
  • Chwa, Dongkyoung (Dept. of Electrical and Computer Engineering, Ajou University)
  • Received : 2012.12.20
  • Accepted : 2013.05.15
  • Published : 2013.06.01
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Abstract

This paper proposes a target tracking control method for wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. For the target tracking, we apply a vision system to mobile robots to obtain the relative posture information between the mobile robot and the target. The robots do not use the sensors to obtain the velocity information in this paper and therefore assumed the unknown velocities of both mobile robot and target. Instead, the proposed method uses only the maximum velocity information of the mobile robot and target. First, the pseudo command for the forward linear velocity and the heading direction angle are designed based on the kinematics by using the obtained image information. Then, the actual control inputs are designed to make the actual forward linear velocity and the heading direction angle follow the pseudo commands. Through simulations and experiments for the mobile robot we have confirmed that the proposed control method is able to track target even when the velocity sensors are not used at all.

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References

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