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Development of an adaptive fuzzy logic based control law for a mobile robot with an uncalibrated camera system

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (2005) 3776 LNCS 325-331
DOI: 10.1007/11590316_48
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Abstract

In this paper, a new adaptive fuzzy controller is proposed for trajectory tracking of wheeled mobile robots by visual servoing. The control algorithm is developed so that it can take care of parametric uncertainty associated with the vision system and the mobile robot dynamics. The system uncertainty associated with nonlinear robot dynamics is estimated by an adaptive fuzzy logic system (FLS) and the uncertain camera parameters are updated online. The controller is designed based on Lyapunov stability theory. Simulation results are presented to illustrate the performance of the proposed controller. © Springer-Verlag Berlin Heidelberg 2005.

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APA

Das, T., & Kar, I. N. (2005). Development of an adaptive fuzzy logic based control law for a mobile robot with an uncalibrated camera system. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 3776 LNCS, pp. 325–331). https://doi.org/10.1007/11590316_48

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