Abstract
This paper develops methodologies and techniques for control architecture design, path tracking laws and posture estimation of a vision-based wheeled mobile robot (WMR). To solve the problem of position/orientation tracking control of the WMR, two kinematical predictive control laws are developed to manipulate the vehicle to asymptotically follow the desired trajectories. A Kalman filtering scheme is used to reduce the bad effect of the imagine nose, thereby improving the accuracy of pose estimation. Simulation and experimental results are included to illustrate the feasibility and effectiveness of the proposed control laws.
| Original language | English |
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| Title of host publication | 3rd International Conference on Innovative Computing Information and Control, ICICIC'08 |
| DOIs | |
| Publication status | Published - 2008 Oct 2 |
| Event | 3rd International Conference on Innovative Computing Information and Control, ICICIC'08 - Dalian, Liaoning, China Duration: 2008 Jun 18 → 2008 Jun 20 |
Publication series
| Name | 3rd International Conference on Innovative Computing Information and Control, ICICIC'08 |
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Other
| Other | 3rd International Conference on Innovative Computing Information and Control, ICICIC'08 |
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| Country | China |
| City | Dalian, Liaoning |
| Period | 08-06-18 → 08-06-20 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Computer Science Applications
- Software
- Control and Systems Engineering
Cite this
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Vision-based predictive path tracking control of a wheeled mobile robot. / Yang, Jui Liang; Su, Ding Tsair; Shiao, Ying Shing.
3rd International Conference on Innovative Computing Information and Control, ICICIC'08. 2008. 4603661 (3rd International Conference on Innovative Computing Information and Control, ICICIC'08).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Vision-based predictive path tracking control of a wheeled mobile robot
AU - Yang, Jui Liang
AU - Su, Ding Tsair
AU - Shiao, Ying Shing
PY - 2008/10/2
Y1 - 2008/10/2
N2 - This paper develops methodologies and techniques for control architecture design, path tracking laws and posture estimation of a vision-based wheeled mobile robot (WMR). To solve the problem of position/orientation tracking control of the WMR, two kinematical predictive control laws are developed to manipulate the vehicle to asymptotically follow the desired trajectories. A Kalman filtering scheme is used to reduce the bad effect of the imagine nose, thereby improving the accuracy of pose estimation. Simulation and experimental results are included to illustrate the feasibility and effectiveness of the proposed control laws.
AB - This paper develops methodologies and techniques for control architecture design, path tracking laws and posture estimation of a vision-based wheeled mobile robot (WMR). To solve the problem of position/orientation tracking control of the WMR, two kinematical predictive control laws are developed to manipulate the vehicle to asymptotically follow the desired trajectories. A Kalman filtering scheme is used to reduce the bad effect of the imagine nose, thereby improving the accuracy of pose estimation. Simulation and experimental results are included to illustrate the feasibility and effectiveness of the proposed control laws.
UR - http://www.scopus.com/inward/record.url?scp=52649164084&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=52649164084&partnerID=8YFLogxK
U2 - 10.1109/ICICIC.2008.599
DO - 10.1109/ICICIC.2008.599
M3 - Conference contribution
AN - SCOPUS:52649164084
SN - 9780769531618
T3 - 3rd International Conference on Innovative Computing Information and Control, ICICIC'08
BT - 3rd International Conference on Innovative Computing Information and Control, ICICIC'08
ER -