Abstract
Kurashiki et al. have already studied an image-based robust trajectory tracking control for a nonholonomic mobile robot. In particular, they considered a situation when the trajectory line and the image plane satisfy a constrained condition. However, it should be noted that in a practical case, there is an alternative situation, which is just as a complimentary case of that studied by Kurashiki et al. Thus, the present image-based method completes the trajectory tracking control for nonhonolomic mobile robots, in which the objective of the trajectory tracking is set as a line tracking in a two-dimensional image plane. The effectiveness of the present method is illustrated through some simulations.
