Vision based trajectory tracking controller for a B21R mobile robot

Abstract

This paper presents a monocular vision based trajectory tracking controller for a wheeled mobile robot. This algorithm is coupled with a real-time obstacle avoiding technique based upon the use of sonar sensors. The overall control procedure evolves around three major tasks: locating the trajectory, tracking the trajectory and avoiding obstacles. The proposed approach has been successfully implemented on a B21R wheeled mobile robot and experimental results are presented