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A new nonlinear trajectory tracking controller is proposed for a mobile robot based on the stability theory of cascaded system. To relax the persistency exciting assumption on the reference angular velocity, the whole tracking errors are divided into the cross track error and orientation error subsystem and the forward track error subsystem, not as in the former research. The back-stepping technique...
The potential filed method is proposed to solve the bottom navigation problem of an underactuated autonomous underwater vehicle, including the bottom avoidance problem and the bottom following problem. The desired depth is treated as a stationary goal and the sea bottom is a moving obstacle in the bottom avoidance problem. And the desired altitude above the bottom is a moving goal and the maximum...
To control the mobile robot with the surrounding information is the essential method to realize the intelligence and automatic moving. The vision information is the most important way to perceive the environment for the mobile robot. This paper presents an essential camera calibration technique for mobile robot, which is based on Pioneer II experiment platform. The technique includes transformation...
According to environment information, navigation and motion control are key techniques in intelligent mobile robot system. Vision information is the most important way to perceive environment, the vision-based intelligent control techniques concerning on Pioneer II mobile robot system are presented. The object search, image segmentation based on HSV (hue-saturation-value) color mode, clustering algorithm...
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