Abstract
In late years, automatic running of the vehicle robots is studied actively. There are various kinds of methods; visual feedback control is one of them. In our laboratory, ten cameras setting below the ceiling capture vehicle states; then each image are processed by host computer and vehicles are controlled. This experimental system includes time delay, for example, transmission time of captured image to host computer from cameras, communication time between host computers and processing time of image. These time delays degrade accuracy of control. In addition, for large delay, this system might become unstable. In this paper, influence of time delay on vehicle motion control is studied. We computed stability margin using Nyquist plot and verified it through experiment.
