目的地を越えない非ホロノミック移動ロボットの画像に基づく安定化制御

抄録

Various control methods based on visual information have been studied for mobile robots for years. Among them, image-based control is said to have high robustness against camera calibration errors. A drawback of image-based control is that the transitional behavior of the system is difficult to predict because it is not designed in the Cartesian space but in the image plane. Especially, unfavorable transitional behavior may cause the loss of target from the sight. In this paper, a design method of the image-based stabilizing control for a nonholonomic mobile robot is proposed not to go beyond the targets by using the state transformation. The effectiveness of the proposed method is confirmed by experiments with a two-wheeled mobile robot.