  This paper presents a proposed method of autonomous control for docking tasks
of a single-seat personal mobility vehicle. We proposed a non-linear model
predictive control (NMPC) based visual servoing to achieves the desired
autonomous docking task. The proposed method is implemented on a four-wheel
electric wheelchair platform, with two independent rear driving wheels and two
front castor wheels. The NMPC-based visual servoing technique leverages the
information extracted from a visual sensor as a real-time feedback for the NMPC
to control the motion of the vehicle achieving the desired autonomous docking
task. To evaluate the performance of the proposed controller method, a number
of experiments both in simulation and in the actual setting. The controller
performance is then evaluated based on the controller design requirement. The
simulation results on autonomous docking experiments show that the proposed
controller has been successfully achieve the desired controller design
requirement to generate realtime trajectory for the vehicle performing
autonomous docking tasks in several different scenarios.
