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.