Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system

This paper considers the problem of position/orientation tracking control o f wheeled mobile robots via visual servoing in the presence of parametric u ncertainty associated with the mechanical dynamics and the camera system. S pecifically, we design an adaptive controller that compensates for uncertai n camera and mechanical parameters and ensures global asymptotic position/o rientation tracking. Simulation and experimental results are included to il lustrate the performance of the control law.