Stereovision Based Leader/Follower Tracking control for Nonholonomic Mobile Robots

Abstract

This work discusses two control strategies to solve the target tracking problem for nonholonomic mobile robots, in our experiments we have considered two robots, a leader and a follower. The follower robot tracks a target (leader) moving along an unknown trajectory. It uses only stereovision to establish its both relative position and orientation to the target, so as to maintain a specified and a given distance between the two robots. Experimental results are included and discussed to show the performances of the proposed vision-based tracking control system.