Path-following control for mobile robots localized via sensor-fused visual homography

Abstract

This paper presents a novel navigation and control system for wheeled mobile robots that includes path planning, localization, and control. A path following control system is introduced that is capable of guiding and keeping the robot on a designated curve. Localization and velocity estimation are provided by a unique sensor fusion algorithm that incorporates vision, IMU and wheel encoder data. Stability analysis is provided for the control system, and experimental results are presented that prove the combined localization and control system performs with high accuracy.