Vision-Based Line Tracking Control for Nonholonomic Differential-Drive Mobile Robots

Abstract

This paper addresses the problem of vision-based path tracking control of nonholonomic differential-drive mobile robots. A feedback control scheme is presented for tracking curved paths on the ground using information from an onboard down-looking camera to guide the steering of the robot. Asymptotic stability of the resulting closed-loop control system is proved using Lyapunov stability theory. Simulation and experimental results are presented to illustrate the effectiveness of the proposed control scheme.