Development of an adaptive fuzzy logic based control law for a mobile robot with an uncalibrated camera system

Authors:
T. Das;I. N. Kar
Affiliations:
Department of Electrical Engineering, Indian Institute of Technology, Delhi, New Delhi, India;Department of Electrical Engineering, Indian Institute of Technology, Delhi, New Delhi, India
Venue:
PReMI'05 Proceedings of the First international conference on Pattern Recognition and Machine Intelligence
Year:
2005

Citing 2
Cited 0

Techniques for Calibration of the Scale Factor and Image Center for High Accuracy 3-D Machine Vision Metrology

IEEE Transactions on Pattern Analysis and Machine Intelligence
Adaptive tracking control of a wheeled mobile robot via anuncalibrated camera system

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

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Abstract

In this paper, a new adaptive fuzzy controller is proposed for trajectory tracking of wheeled mobile robots by visual servoing. The control algorithm is developed so that it can take care of parametric uncertainty associated with the vision system and the mobile robot dynamics. The system uncertainty associated with nonlinear robot dynamics is estimated by an adaptive fuzzy logic system (FLS) and the uncertain camera parameters are updated online. The controller is designed based on Lyapunov stability theory. Simulation results are presented to illustrate the performance of the proposed controller.