Experiments in visual feedback control of a wheeled mobile robot

1 January 2002

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 2, 2073-2078
https://doi.org/10.1109/robot.2002.1014846

Abstract

An experimental study is presented on vision-based feedback control methods for the nonholonomic wheeled mobile robot SuperMARIO. The robot posture is measured via a camera fixed on the ceiling of an indoor environment. To this end, a simple localization algorithm has been developed. Performance on trajectory following and parking tasks is compared under different controllers and using either odometric or visual feedback. The improvement with the latter is obtained at the expense of a limited increase in sampling time.

Keywords

This publication has 12 references indexed in Scilit:

Vision-based implementation of feedback control of unicycle robots
Published by Institute of Electrical and Electronics Engineers (IEEE) ,1999
Feedback control of a nonholonomic car-like robot
Published by Springer Nature ,1998
Visual servoing of nonholonomic cart
Published by Institute of Electrical and Electronics Engineers (IEEE) ,1997
Discontinuous control of nonholonomic systems
Systems & Control Letters, 1996
Control of Nonholonomic Wheeled Mobile Robots by State Feedback Linearization
The International Journal of Robotics Research, 1995
Closed loop steering of unicycle like vehicles via Lyapunov techniques
IEEE Robotics & Automation Magazine, 1995
Control of chained systems application to path following and time-varying point-stabilization of mobile robots
IEEE Transactions on Automatic Control, 1995
NONLINEAR CONTROL DESIGN FOR MOBILE ROBOTS
Published by World Scientific Pub Co Pte Ltd ,1994
Time-varying Feedback Stabilization of Car-like Wheeled Mobile Robots
The International Journal of Robotics Research, 1993
A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses
IEEE Journal on Robotics and Automation, 1987