Trajectory tracking control of mobile robots by an image-based fuzzy controller

Image-based control is one of robot control methods using a camera and it can control a robot indirectly by controlling only image information on an image plane without using the robot states. In this paper, an image-based trajectory tracking method is described for a mobile robot. Especially, a fuzzy controller is adopted to cope with time-varying robot speeds, which are usually assumed to be constant. Simulation experiments show the usability of the designed fuzzy controller, giving the improvement of the control performance, such as the reduction of overshoot, the shortening of convergence time, etc.