Visual Servo Control for Wheeled Robot Trajectory Tracking
In this paper, we discussed the trajectory tracking control problem of the kinematic model of wheel mobile robot. Designed an asymptotic stability tracking controller, using visual servo method based on inverse system and sliding mode variable structure control, and proposed a method to measure motion state of a target mobile robot. Simulation results show this method is feasible.
G. Y. Xu et al., "Visual Servo Control for Wheeled Robot Trajectory Tracking", Advanced Materials Research, Vol. 346, pp. 650-656, 2012