Advertisement

Development of an Adaptive Fuzzy Logic Based Control Law for a Mobile Robot with an Uncalibrated Camera System

  • T. Das
  • I. N. Kar
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3776)

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.

Keywords

Mobile Robot Trajectory Tracking Reference Trajectory Fuzzy Logic System Visual Servoing 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. 1.
    Kanayama, Y., Kimura, Y., Miyazaki, F., Noquchi, T.: A stable tracking control method for an autonomous mobile robot. In: Proc. IEEE Int. Conf. Robotics and automation, May 1990, vol. 1, pp. 384–389 (1990)Google Scholar
  2. 2.
    Hagar, G., Hutchison, S., Corke, P.: A tutorial on visual servo control. IEEE Trans. Robotics and Automation 12(5), 651–670 (1996)CrossRefGoogle Scholar
  3. 3.
    Dixon, W.E., Dawson, D.M., Zergeroglu, E., Behal, A.: Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system. IEEE Trans. Systems, Man, and Cybernetics –Part B: Cybernetics 31(3), 341–352 (2001)CrossRefGoogle Scholar
  4. 4.
    Lenz, R.K., Tsai, R.Y.: Techniques for calibration of the scale factor and image center of high accuracy 3-D machine vision metrology. IEEE Trans. Pattern Analysis and Machine Intelligence 10(5), 713–720 (1988)CrossRefGoogle Scholar
  5. 5.
    Cheah, C.C., Liu, C., Slotine, J.J.E.: Approximate Jacobian Control for Robot Manipulators. In: Proc. IEEE Int. Conf. Robotics and Automation, April 2004, pp. 3075–3080 (2004)Google Scholar
  6. 6.
    Wang, L.-X., Mendel, J.M.: Fuzzy Basis Functions, Universal Approximation, and Orthogonal Least-Squares Learning. IEEE Trans. Neural Networks 3(5), 807–814 (1992)CrossRefGoogle Scholar
  7. 7.
    Kelly, R.: Robust asymptotically stable visual servoing of planar robots. IEEE Trans. Robotics and Automation 12, 756–766 (1996)CrossRefGoogle Scholar
  8. 8.
    Das, T.: Intelligent tracking control of robotic systems, MS thesis, Indian Institute of Technology, Delhi (2005)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • T. Das
    • 1
  • I. N. Kar
    • 1
  1. 1.Department of Electrical EngineeringIndian Institute of Technology, DelhiNew DelhiIndia

Personalised recommendations