Visual Servo Control for Wheeled Robot Trajectory Tracking

Abstract:

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.

• Periodical: Advanced Materials Research (Volume 346)
• Pages: 650-656
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.346.650
• Online since: September 2011
• Authors: Guang Yan Xu, Xiao Yan Jia, Hong Shi, Jian Guo Cui
• Keywords: Feedback Linearization, Trajectory Tracking, Visual Servo, Wheeled Robot

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