Vision-Based Line Tracking Control and Stability Analysis of Unicycle Mobile Robots

This paper addresses the problem of vision-based line tracking control of unicycle mobile robots. First, a robot-camera model suitable for path following applications is derived. Using a look-ahead approach, a feedback controller is proposed for tracking curved paths on the ground using information from an onboard down-looking camera using distance-only measurements. Stability properties of the closed-loop system are analyzed, and asymptotic stability of the resulting closed-loop control system is proved using Lyapunov stability theory. Simulation and experimental results are presented to illustrate the effectiveness of the proposed control scheme.