A vision-based position control methodology to drive mobile robots towards target positions

Haibo Huang; Dong Sun; Wuwei Chen; James K. Mills

doi:10.1109/ROBIO.2005.246295

A vision-based position control methodology to drive mobile robots towards target positions

Haibo Huang^*, Dong Sun, Wuwei Chen, James K. Mills

^*Corresponding author for this work

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

1 Citation (Scopus)

Abstract

In this paper, a simple vision-based position control approach is developed for driving a wheeled mobile robot towards target position(s). The trajectory tracking problem is simplified as a combination of point-to-point movements between every two adjacent targets. The controller contains a velocity and steering angle control, using a proposed visual sensing methodology to measure the distance between the vehicle and the desired position and the desired rotary angle. It is proved that when the control gains are properly chosen, the robot asymptotically converges to the desired target position. The method is simple and easy to implement. Experimental results verify the effectiveness of the proposed approach. © 2005 IEEE.

Original language	English
Title of host publication	2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
Publisher	IEEE
Pages	369-372
ISBN (Print)	0780393155, 9780780393158
DOIs	https://doi.org/10.1109/ROBIO.2005.246295
Publication status	Published - Jul 2005
Event	2005 IEEE International Conference on Robotics and Biomimetics (ROBIO 2005) - Hong Kong, China Duration: 5 Jul 2005 → 9 Jul 2005

Conference

Conference	2005 IEEE International Conference on Robotics and Biomimetics (ROBIO 2005)
Place	China
City	Hong Kong
Period	5/07/05 → 9/07/05

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@inproceedings{82e2a921a52841ff95b66e08bb6c144c,

title = "A vision-based position control methodology to drive mobile robots towards target positions",

abstract = "In this paper, a simple vision-based position control approach is developed for driving a wheeled mobile robot towards target position(s). The trajectory tracking problem is simplified as a combination of point-to-point movements between every two adjacent targets. The controller contains a velocity and steering angle control, using a proposed visual sensing methodology to measure the distance between the vehicle and the desired position and the desired rotary angle. It is proved that when the control gains are properly chosen, the robot asymptotically converges to the desired target position. The method is simple and easy to implement. Experimental results verify the effectiveness of the proposed approach. {\textcopyright} 2005 IEEE.",

author = "Haibo Huang and Dong Sun and Wuwei Chen and Mills, {James K.}",

year = "2005",

month = jul,

doi = "10.1109/ROBIO.2005.246295",

language = "English",

isbn = "0780393155",

pages = "369--372",

booktitle = "2005 IEEE International Conference on Robotics and Biomimetics, ROBIO",

publisher = "IEEE",

address = "United States",

note = "2005 IEEE International Conference on Robotics and Biomimetics (ROBIO 2005) ; Conference date: 05-07-2005 Through 09-07-2005",

}

Huang, H, Sun, D, Chen, W & Mills, JK 2005, A vision-based position control methodology to drive mobile robots towards target positions. in 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO. IEEE, pp. 369-372, 2005 IEEE International Conference on Robotics and Biomimetics (ROBIO 2005), Hong Kong, China, 5/07/05. https://doi.org/10.1109/ROBIO.2005.246295

A vision-based position control methodology to drive mobile robots towards target positions. / Huang, Haibo; Sun, Dong; Chen, Wuwei et al.
2005 IEEE International Conference on Robotics and Biomimetics, ROBIO. IEEE, 2005. p. 369-372.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - A vision-based position control methodology to drive mobile robots towards target positions

AU - Huang, Haibo

AU - Sun, Dong

AU - Chen, Wuwei

AU - Mills, James K.

PY - 2005/7

Y1 - 2005/7

N2 - In this paper, a simple vision-based position control approach is developed for driving a wheeled mobile robot towards target position(s). The trajectory tracking problem is simplified as a combination of point-to-point movements between every two adjacent targets. The controller contains a velocity and steering angle control, using a proposed visual sensing methodology to measure the distance between the vehicle and the desired position and the desired rotary angle. It is proved that when the control gains are properly chosen, the robot asymptotically converges to the desired target position. The method is simple and easy to implement. Experimental results verify the effectiveness of the proposed approach. © 2005 IEEE.

AB - In this paper, a simple vision-based position control approach is developed for driving a wheeled mobile robot towards target position(s). The trajectory tracking problem is simplified as a combination of point-to-point movements between every two adjacent targets. The controller contains a velocity and steering angle control, using a proposed visual sensing methodology to measure the distance between the vehicle and the desired position and the desired rotary angle. It is proved that when the control gains are properly chosen, the robot asymptotically converges to the desired target position. The method is simple and easy to implement. Experimental results verify the effectiveness of the proposed approach. © 2005 IEEE.

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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-33947672859&origin=recordpage

U2 - 10.1109/ROBIO.2005.246295

DO - 10.1109/ROBIO.2005.246295

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0780393155

SN - 9780780393158

SP - 369

EP - 372

BT - 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO

PB - IEEE

T2 - 2005 IEEE International Conference on Robotics and Biomimetics (ROBIO 2005)

Y2 - 5 July 2005 through 9 July 2005

ER -

A vision-based position control methodology to drive mobile robots towards target positions

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