Stability Analysis of a Vision-based Control Design for an Autonomous Mobile Robot
| Authors: | Coulaud Jean-Baptiste, UCL : Catholic University of Louvain, Belgium
De Wan Michel, UCL : Catholic University of Louvain, Belgium
Bastin Georges, UCL : Catholic University of Louvain, Belgium
Campion Guy, UCL : Catholic University of Louvain, Belgium |
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| Topic: | 4.3 Robotics |
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| Session: | Autonomous Robots and Systems |
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| Keywords: | path tracking, vision based control, autonomous mobile robots |
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Abstract
We propose a simple control law allowing a mobile robot equipped with a low cost camera to track a line drawn on the ground. The control algorithm as well as the image processing algorithm are very simple. We discuss the existence and the stability of an equilibrium configuration of the robot when tracking a circular reference line. We then give a short extrapolation to more general reference curves.Experimental results confirm the theoretical analysis.
