TRAJECTORY TRACKING CONTROL OF WHEELED MOBILE ROBOT BASED ON GLOBAL VISION

Abstract

This paper considers the problem of trajectory tracking control of wheeled mobile robot via visual servoing in the presence of global vision. A control law based on eliminating the error of image characteristis is presented. The dynamic model (including motor dynamics) of nonholonomic mobile robot system is discussed and derived,and a robust velocity-tracking controller is designed. The perfermance of the control laws are testified by the experimental results.