Trajectory tracking control for nonholonomic mobile robots by an image-based approach

The vision-based control that uses cameras for observing a robot environment has been researched widely. Especially, a method called image-based control has high robust properties, because it can control a target on an image plane coordinate without using a robot position. Kurashiki et al. have already studied on an image-based control method that can realize a robust trajectory tracking. Although their objective was to control a nonholonomic mobile robot, the problem setting used there was to be little affected from the nonholonomic constraint. Further more, there were unclear points in deriving a control law. In this paper, such unclear points are explained from an geometric relation and other problem settings, which are clearly affected by a nonholonomic constraint, are proposed.