Control of a Nonholonomic Mobile Robot Via Sensor-based Target Tracking and Pose Estimation

摘要

The paper addresses the problem of controlling the posture of a nonholonomic mobile robot via sensor-based target tracking. The control technique here considered is adapted from the transverse function approach with sensory signals used to calculate an estimate of the relative pose of the robot with respect to the target. An analysis of stability and robustness w.r.t. pose estimation errors is presented and the overall control performance is tested via simulation and experimentation on a unicycle-type mobile robot equipped with a camera