Seminar Details
2006-01-31 (14.00 pm) : "Stability Analysis of a Vision-Based Control Design for an Autonomous Mobile Robot"
At Euler building
Organized by Mathematical Engineering
Speaker :
Jean-Baptiste COULAUD
(CESAME)
Abstract :
We propose a simple control design allowing
a mobile robot equipped with a camera to track a line on the ground.
The control algorithm as well as the image processing algorithm are very simple.
We discuss the existence and the practical stability of an equilibrium trajectory of the robot when tracking
a circular reference line. We then give a complementary analysis for arbitrary
reference lines with bounded curvature. Experimental results confirm the theoretical analysis.