Vision-based predictive path tracking control of a wheeled mobile robot

Jui Liang Yang, Ding Tsair Su, Ying Shing Shiao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication3rd International Conference on Innovative Computing Information and Control, ICICIC'08
DOIs
Publication statusPublished - 2008 Oct 2
Event3rd International Conference on Innovative Computing Information and Control, ICICIC'08 - Dalian, Liaoning, China
Duration: 2008 Jun 182008 Jun 20

Publication series

Name3rd International Conference on Innovative Computing Information and Control, ICICIC'08

Other

Other3rd International Conference on Innovative Computing Information and Control, ICICIC'08
CountryChina
CityDalian, Liaoning
Period08-06-1808-06-20

Fingerprint

Mobile robots
Trajectories

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Software
  • Control and Systems Engineering

Cite this

Yang, J. L., Su, D. T., & Shiao, Y. S. (2008). Vision-based predictive path tracking control of a wheeled mobile robot. In 3rd International Conference on Innovative Computing Information and Control, ICICIC'08 [4603661] (3rd International Conference on Innovative Computing Information and Control, ICICIC'08). https://doi.org/10.1109/ICICIC.2008.599
Yang, Jui Liang ; Su, Ding Tsair ; Shiao, Ying Shing. / Vision-based predictive path tracking control of a wheeled mobile robot. 3rd International Conference on Innovative Computing Information and Control, ICICIC'08. 2008. (3rd International Conference on Innovative Computing Information and Control, ICICIC'08).
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Yang, JL, Su, DT & Shiao, YS 2008, Vision-based predictive path tracking control of a wheeled mobile robot. in 3rd International Conference on Innovative Computing Information and Control, ICICIC'08., 4603661, 3rd International Conference on Innovative Computing Information and Control, ICICIC'08, 3rd International Conference on Innovative Computing Information and Control, ICICIC'08, Dalian, Liaoning, China, 08-06-18. https://doi.org/10.1109/ICICIC.2008.599

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 proceedingConference contribution

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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.

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Yang JL, Su DT, Shiao YS. Vision-based predictive path tracking control of a wheeled mobile robot. In 3rd International Conference on Innovative Computing Information and Control, ICICIC'08. 2008. 4603661. (3rd International Conference on Innovative Computing Information and Control, ICICIC'08). https://doi.org/10.1109/ICICIC.2008.599