| At the end of the 60s, machine vision appeared with the develop of the computer and electronic technique. Vision information has been used to orientate manipulator from 70s.At that time, there were some practical vision system, such as production of integrate circuit, assemblage of rigid electronic product. In the evening of the 80s, that there had appeared special hardware for image manipulation made visual information use to consecutive feedback. So, the control form based on visual servoing ,that is, visual servoing. This mode can conquer the uncertainty in the mode and improve the precision of the visual orientation or scout. At the 90s, with the improving of computer ability and the drop of price and the rapidly develop of hardware for image manipulation and CCD vidicon, visual servoing system attracted the attention of many people. In the last years, visual seroing control had many progress in the aspect both of theory and of applying.The issue of tracking control of unrestricted mobile is studied based on the theory of visual servoing. It has important meaning in the actual applying. This system can be also named as cricket system. Now, it has been used to study various control method as experimental device in some overseas university. The aim of building this system is to study the dynamical problems of it. Using the method of fuzzy control to cricket system can be used as a demo device for control lab of university and also exploiting flat for control theod.At first, this paper designed the basic framework of experimental flat based on the control theory of visual servoing system and properly chosen the organ used in the flat based on material use of flat from some aspects of control precision and capability and price and introduced the work theory of servo controller and its application.The system orientates the objects at first and uses the CCD vidicon as vision sensor so that it deals with the demarcating problem of the vidicon. This system has no radial aberrance because it adopts CCD vidicon. So, it can complete demarcation of the vidicon based the linear mode of the vidicon. Then it does point to point operation and morphological operations and edge detection and features extraction for the image from the image grabbing card so that it can distill the controlled globule from the image information, then combine it with the result of space kinematics and vidicon. The designed vidicon fixed on the bottom and we prove the correctness of the orientation algorithm. But, the accuracy of the orientation algorithm completely depends on the orientation accuracy. So, it is not propitious to improve orientation accuracy of the system.The design of the vision controller starts with the kinetics and dynamics analysis of unrestricted mobile which we can conclude that the flat can decouple along the x,y directions. So, the design in x direction is similar to the design in y direction. The basic fuzzy controller has the advantage of short responding time and small super adjust and good robust. But, there is stabilizing error and it can not have fine controlling capability in the entire run process of the system. Therefore, we advanced two means to improve the capability of the system which are position estimating control and parameter on-line self-settle fuzzy control and use orderly to the system to improve its control capability. We also validate the method improving the capability of the system.The task-given section belongs to path planning problem. Path planning belongs to the bottom planning problem. It studies the path building of the mobile based on kinematics and dynamics. This paper start with the basic point to point planning in the right angle space and gradually go deep into the path planning problem of curve planning and arbitrary path point. We design interpolation method of path planning and approve that the real time building method can reduce the run time of the system through the experiment and can make the mobile keep stable speed in the running process to realize the a...
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