Image-based visual adaptive tracking control of nonholonomic mobile robots

摘要

A novel image-based visual approach for controlling nonholonomic mobile robots to track a moving target is presented. The mobile robot is endowed with a fixed camera, and a visual feedback controller is used to control the mobile robot to track a moving target of interest. A three dimensional state space representation of the camera-target visual interaction model fully defined in the image plane is used. In the case of an unknown height moving target symbol traced by camera, the global stability is proved using an adaptive backstepping control law. Based on the Lyapunov direct method, the closed-loop stability is guaranteed. Experimental results of a mobile robot with two actuated wheels equiped with a fixed camera are provided for illustrating the tracking ability of the controller.