Arbitrary trajectory tracking of a mobile robot by an image-based fuzzy controller

摘要

Most of conventional mobile robot control methods have controlled robots based on their positions that are measured by some kinds of position estimation methods. On the other hand, humans decide their behavior based on mainly visual information without their accurate positions usually. Image-based visual servoings (IBVS) seem to be human approaches in the viewpoint that they control robots based on information of camera images without using robot positions. This paper proposes a method for tracking an arbitrary trajectory drawn on a floor by an IBVS method. A fuzzy controller is designed to determine control inputs from parameters of a linearized target trajectory on captured images. The proposed method is evaluated through some simulation experiments.