Fuzzy visual servo control for a wheeled mobile robot

摘要

In this paper, we propose a fuzzy visual servo control algorithm to the path tracking applications of a nonholonomic wheeled mobile robot (WMR). The algorithm mainly consists of a path shape tracking algorithm and a robust visual servo controller. The path shape tracking algorithm is designed to detect the shape contours of the path, extract the shape parameters, and continuously track the path. Based on measurements of the ellipse shape parameters between actual distance from path and Euclidean distance through curve fitting, the visual servo controller is designed using the adaptive fuzzy sliding mode control technique. From Lyapunov-based stability analysis, a sufficient condition on the selection of control gains to achieve the tracking goal in finite time is provided. Experimental results show that the proposed control schemes are feasible.