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

Jui Liang Yang; Ding Tsair Su; Ying Shing Shiao

doi:10.1109/ICICIC.2008.599

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

Jui Liang Yang, Ding Tsair Su, Ying Shing Shiao

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	3rd International Conference on Innovative Computing Information and Control, ICICIC'08
DOIs	https://doi.org/10.1109/ICICIC.2008.599
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

Other

Other	3rd International Conference on Innovative Computing Information and Control, ICICIC'08
Country	China
City	Dalian, Liaoning
Period	08-06-18 → 08-06-20

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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

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title = "Vision-based predictive path tracking control of a wheeled mobile robot",

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.",

author = "Yang, {Jui Liang} and Su, {Ding Tsair} and Shiao, {Ying Shing}",

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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 proceeding › Conference 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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Access to Document

10.1109/ICICIC.2008.599