Image-based trajectory tracking with fuzzy control for nonholonomic mobile robots

Tatsuya Kato; Keigo Watanabe; Shoichi Maeyama

doi:10.1109/IECON.2011.6119840

Image-based trajectory tracking with fuzzy control for nonholonomic mobile robots

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

Image-based control is one of robot control methods using a camera and it can control a robot indirectly by controlling only image information on an image plane without using the robot states. In this paper, an image-based trajectory tracking method is described for a nonholonomic mobile robot. Especially, a fuzzy controller is adopted to regard the robot speed, usually assumed to be constant, as time varying one. The controller was tested on simulation experiments. The results of the experiments show the usability of the designed fuzzy controller, giving the improvement of the control performance, such as the reduction of overshoot, the shortening of convergence time, etc. Additionally, the impact of control parameters on the robot behavior is proved in the simulations.

Original language	English
Title of host publication	Proceedings
Subtitle of host publication	IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
Pages	3299-3304
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2011.6119840
Publication status	Published - Dec 1 2011
Event	37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia Duration: Nov 7 2011 → Nov 10 2011

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
Country/Territory	Australia
City	Melbourne, VIC
Period	11/7/11 → 11/10/11

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2011.6119840

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Image-based trajectory tracking with fuzzy control for nonholonomic mobile robots. / Kato, Tatsuya; Watanabe, Keigo; Maeyama, Shoichi.
Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society. 2011. p. 3299-3304 6119840 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kato, T, Watanabe, K & Maeyama, S 2011, Image-based trajectory tracking with fuzzy control for nonholonomic mobile robots. in Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society., 6119840, IECON Proceedings (Industrial Electronics Conference), pp. 3299-3304, 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011, Melbourne, VIC, Australia, 11/7/11. https://doi.org/10.1109/IECON.2011.6119840

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AB - Image-based control is one of robot control methods using a camera and it can control a robot indirectly by controlling only image information on an image plane without using the robot states. In this paper, an image-based trajectory tracking method is described for a nonholonomic mobile robot. Especially, a fuzzy controller is adopted to regard the robot speed, usually assumed to be constant, as time varying one. The controller was tested on simulation experiments. The results of the experiments show the usability of the designed fuzzy controller, giving the improvement of the control performance, such as the reduction of overshoot, the shortening of convergence time, etc. Additionally, the impact of control parameters on the robot behavior is proved in the simulations.

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Image-based trajectory tracking with fuzzy control for nonholonomic mobile robots

Abstract

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