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Experimental fuzzy visual control for trajectory tracking of a Khepera II mobile robot

Abstract : This paper presents an architecture for the trajectory tracking of a Khepera II wheeled mobile robot in a certain environment, which means that the workspace of the robot is supervised by a camera, placed vertically above. The proposed strategy consists of computing the position of the robot in real time using a vision algorithm. Then the technique for tracking-error model-based Parallel Distributed Compensation (PDC) control for non-holonomic vehicles is used. Briefly, this technique consists of rewriting the kinematic error model of the mobile robot tracking problem into a Takagi-Sugeno (TS) fuzzy representation and finding a stabilizing controller by solving Linear Matrix Inequalities (LMI) conditions for the tracking-error. The effectiveness, perfect trajectory tracking and real time properties are shown by experimental results.
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https://archivesic.ccsd.cnrs.fr/sic_01798216
Contributor : Clara Galliano <>
Submitted on : Wednesday, May 23, 2018 - 11:53:16 AM
Last modification on : Thursday, June 7, 2018 - 4:46:02 PM

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El-Hadi Guechi, Alexandre Abellard, Matteo Franceschi. Experimental fuzzy visual control for trajectory tracking of a Khepera II mobile robot. IEEE International Conference on Industrial Technology , Mar 2012, Athens, Greece. pp.25-30, ⟨10.1109/ICIT.2012.6209908⟩. ⟨sic_01798216⟩

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