Image-based Robust Arbitrary Path Following of Nonholonomic Mobile Robots

Abstract

Wheeled mobile robots are known as one of nonholonomic constrained systems and many control strategies have been proposed. As one topic of them, image-based control of mobile robots has been paid much attention because of its robustness against modeling or calibration errors. In this paper, two image-based path following control methods are proposed to follow a target curve marked on the ground. One is a basic controller based on a Lyapunov's direct method and the other is designed by an inverse optimal approach and has robustness to a class of uncertainties. Some simulations and experiments are performed to show their performance.