Development of an Adaptive Fuzzy Logic Based Control Law for a Mobile Robot with an Uncalibrated Camera System
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.
KeywordsMobile Robot Trajectory Tracking Reference Trajectory Fuzzy Logic System Visual Servoing
- 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
- 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
- 8.Das, T.: Intelligent tracking control of robotic systems, MS thesis, Indian Institute of Technology, Delhi (2005)Google Scholar