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Stability analysis of a vision-based control design for an autonomous mobile robot

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Coulaud, Jean-Baptiste [UCL] Campion, Guy [UCL] Bastin, Georges [UCL] De Wan, Michel [UCL]

We propose a simple control design allowing,a mobile robot equipped with a camera to track a line on the ground. The control algorithm, as well as the image-processing algorithm, are very simple. We discuss the existence and the practical stability of an equilibrium trajectory of the robot when tracking a circular reference line. We then give a complementary analysis for arbitrary reference lines with bounded curvature. Experimental results confirm the theoretical analysis.

Document type Communication à un colloque (Conference Paper) – Présentation orale avec comité de sélection
Publication date 2006
Language Anglais
Conference "16th IFAC World Congress", Prague(Czech Republic) (Jul 03-08, 2005)
Journal information "IEEE Transactions on Robotics" - Vol. 22, no. 5, p. 1062-1069 (2006)
Peer reviewed yes
issn 1552-3098
e-issn 1941-0468
Publisher Ieee-inst Electrical Electronics Engineers Inc (Piscataway)
Affiliation UCL - FSA/INMA - Département d'ingénierie mathématique
Keywords Control-design Analysis ; Mobile Robot ; Path Tracking ; Visual Servoing
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Bibliographic reference Coulaud, Jean-Baptiste ; Campion, Guy ; Bastin, Georges ; De Wan, Michel. Stability analysis of a vision-based control design for an autonomous mobile robot.16th IFAC World Congress (Prague(Czech Republic), Jul 03-08, 2005). In: IEEE Transactions on Robotics, Vol. 22, no. 5, p. 1062-1069 (2006)
Permanent URL http://hdl.handle.net/2078.1/59928