Title :
Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system
Author :
Dixon, W.E. ; Dawson, D.M. ; Zergeroglu, E. ; Behal, A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
This paper considers the problem of position orientation tracking control of wheeled mobile robots via visual serving in the presence of parametric uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertain camera and mechanical parameters and ensures global asymptotic position/orientation tracking
Keywords :
adaptive control; asymptotic stability; mobile robots; position control; robot dynamics; robot kinematics; robot vision; servomechanisms; tracking; adaptive control; asymptotic stability; dynamics; kinematic model; orientation tracking; position control; robot vision; uncalibrated camera; visual serving; wheeled mobile robot; Adaptive control; Calibration; Cameras; Control systems; Machine vision; Mobile robots; Programmable control; Robot vision systems; Uncertainty; Visual servoing;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.879448
