Trajectory teaching and tracking control by a sequence of image feature points

This paper describes a method for controlling the trajectory tracking of a mobile object, enabling the mobile object to accomplish some task involving a target object. A sequence of image feature points is used to express the reference trajectory that the mobile object should track and the mobile object is controlled by a feedback control law derived from the sequence of image feature points. This control is robust and flexible because the mobile object tracks a reference trajectory in an object-centered coordinate system of the target object. Moreover, the trajectory can be taught with only an image sequence. Simulation showed that a mobile object can track a trajectory described in an object-centered coordinate system.

Authors

• Kimitaka Endo
• Koichi Tanaka
• Mutsuo Sano
• Naoki Mukawa

Keywords

• Trajectory
• Education
• Cameras
• Target tracking
• Manipulators
• Robot vision systems
• Control systems
• Communication system control
• Laboratories
• Mobile robots
• Feature Points
• Tracking Control
• Sequence Of Points
• Trajectory Tracking Control
• Coordinate System
• Target Object
• Reference Trajectory
• Feedback Control Law
• Control Method
• Teaching Methods
• Symmetric Matrix
• Coordinates Of Points
• Tracking Error
• Image Point
• Phase Control
• Mobile Robot
• Geometric Relationship
• Camera Model
• Camera Pose
• Instruction Phase
• World Coordinate System
• Visual Servoing
• Motion Error
• Object Pose
• Feedback Gain Matrix