Trajectory tracking control of mobile robots by an image-based fuzzy controller

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama

研究成果

抄録

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 mobile robot. Especially, a fuzzy controller is adopted to cope with time-varying robot speeds, which are usually assumed to be constant. Simulation 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.

本文言語English
ホスト出版物のタイトルSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
出版社Society of Instrument and Control Engineers (SICE)
ページ1309-1313
ページ数5
ISBN(印刷版)9784907764395
出版ステータスPublished - 2011
外部発表はい
イベント50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo
継続期間: 9月 13 20119月 18 2011

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
国/地域Japan
CityTokyo
Period9/13/119/18/11

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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