PROJECT TITLE :

Adaptive Image-Based Trajectory Tracking Control of Wheeled Mobile Robots With an Uncalibrated Fixed Camera

ABSTRACT:

In this paper, the uncalibrated image-primarily based trajectory tracking control downside of wheeled mobile robots will be studied. The motion of the wheeled mobile robot will be observed using an uncalibrated fixed camera on the ceiling. Totally different from ancient vision-primarily based management methods of wheeled mobile robots in the fastened camera configuration, the camera image plane isn't required to be parallel to the motion plane of the wheeled mobile robots and also the camera can be placed at a general position. To ensure that the wheeled mobile robot can efficiently track its desired trajectory, which is specified by the specified image trajectory of a feature point at the forward axis of the wheeled mobile robot, we tend to will propose a replacement adaptive image-primarily based trajectory tracking control approach without the exact knowledge of the camera intrinsic and extrinsic parameters and therefore the position parameter of the feature point. To eliminate the nonlinear dependence on the unknown parameters from the closed-loop system, a depth-freelance image Jacobian matrix framework for the wheeled mobile robots can be developed such that unknown parameters within the closed-loop system can be linearly parameterized. During this manner, adaptive laws will be designed to estimate the unknown parameters on-line, and the depth information of the feature point will be allowed to be time varying in this case. The Lyapunov stability analysis can conjointly be performed to point out asymptotical convergence of image position and velocity tracking errors of the wheeled mobile robot. The simulation results primarily based on a two-wheeled mobile robot will be given in this paper to illustrate the performance of the proposed approach furthermore. The experimental results primarily based on a real wheeled mobile robot can also be provided to validate the proposed approach.