Abstract
In this paper, a new adaptive fuzzy controller is proposed for trajectory tracking of wheeled mobile robots by visual servoing. The control algorithm is developed so that it can take care of parametric uncertainty associated with the vision system and the mobile robot dynamics. The system uncertainty associated with nonlinear robot dynamics is estimated by an adaptive fuzzy logic system (FLS) and the uncertain camera parameters are updated online. The controller is designed based on Lyapunov stability theory. Simulation results are presented to illustrate the performance of the proposed controller.
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© 2005 Springer-Verlag Berlin Heidelberg
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Das, T., Kar, I.N. (2005). Development of an Adaptive Fuzzy Logic Based Control Law for a Mobile Robot with an Uncalibrated Camera System. In: Pal, S.K., Bandyopadhyay, S., Biswas, S. (eds) Pattern Recognition and Machine Intelligence. PReMI 2005. Lecture Notes in Computer Science, vol 3776. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11590316_48
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DOI: https://doi.org/10.1007/11590316_48
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-30506-4
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