Control and monocular visual SLAM of nonholonomic mobile robots

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control Pub Date : 2024-12-31 DOI:10.1016/j.ejcon.2024.101171

Juan-Carlos Trujillo , Rodrigo Munguia , Juan-Carlos Albarrán , Marco Arteaga

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引用次数: 0

Abstract

Achieving autonomy in mobile robotics necessitates fundamental capabilities such as trajectory tracking, self-localization, and environmental perception. GPS is the conventional choice for establishing the position of a mobile robot in outdoor and open settings; however, it lacks reliability in diverse environments, such as cluttered indoor spaces. In this paper, we propose a nonlinear kinematic control scheme for trajectory tracking, alongside a Monocular Visual SLAM (Simultaneous Localization and Mapping) method for nonholonomic wheeled mobile robots operating in GPS-denied environments. The proposed SLAM system incorporates heading and range measurements. We conduct a nonlinear observability analysis to demonstrate that the system’s observability is enhanced by integrating these measurements. The kinematic controller is formulated using the Lyapunov direct method, and the stability of the control law is verified through Lyapunov theory. Extensive computer simulations demonstrate that the proposed systems achieve good performance.

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来源期刊

European Journal of Control 工程技术-自动化与控制系统

CiteScore

5.80

自引率

5.90%

发文量

131

审稿时长

1 months

期刊介绍： The European Control Association (EUCA) has among its objectives to promote the development of the discipline. Apart from the European Control Conferences, the European Journal of Control is the Association''s main channel for the dissemination of important contributions in the field. The aim of the Journal is to publish high quality papers on the theory and practice of control and systems engineering. The scope of the Journal will be wide and cover all aspects of the discipline including methodologies, techniques and applications. Research in control and systems engineering is necessary to develop new concepts and tools which enhance our understanding and improve our ability to design and implement high performance control systems. Submitted papers should stress the practical motivations and relevance of their results. The design and implementation of a successful control system requires the use of a range of techniques: Modelling Robustness Analysis Identification Optimization Control Law Design Numerical analysis Fault Detection, and so on.