Adaptive Vision-Based Trajectory Tracking Control of a Wheeled Mobile Robot

Autor:	Shih-Chieh Chou, 周士傑
Rok vydání:	2009
Druh dokumentu:	學位論文 ; thesis
Popis:	98 The problem considered in this paper is position orientation, and speed tracking control of a mobile robot by using single-camera visual servoing with the presence of parametric uncertainties associated with dynamic model of the mobile robot and the camera. An vision-based adaptive controller is designed that compensates for the uncertain intrinsic/extrinsic paramters of the camera as well as the robot dynamic paramters and ensures succesful position, orientation and spped tracking in the camera system. Simulations have been successfully performed in MATLAB. The proposed control system has also been experimented with the mobile robot DR. Robot X80 and a ceiling-mounted IP canera. The experimental results appear to have validated the effective performance of the seemingly novel vision-based adaptive control system.
Databáze:	Networked Digital Library of Theses & Dissertations
Externí odkaz:	http://ndltd.ncl.edu.tw/handle/jx4bhg Zobrazit plný text záznamu