Uncalibrated Visual Servoing Feedback Based Exponential Stabilization of Nonholonomic Mobile Robots

摘要：

This paper investigates visual servoing stabilization of nonholonomic moving robots with unknown camera parameters. Based on the visual servoing feedback and the common chained form of type (1,2) robot, we obtain a new kind of uncertain model of nonholonomic kinemetic system .rstly. Then a time varying feedback controller is proposed for exponentially stabilizing the position and orientation of the moving robot using visual feedback when the depth of the image features and the camera parameters are not known. This controller is developed based on a new formulation of the problem in the image space. The exponential stability of the closed loop system is rigorously proved. Simulation results demonstrate the effectiveness of the method proposed in this paper.

作者: Zhenying Liang Chaoli Wang Yan Sun Yamin Yang Yunhui Liu

作者单位: Business School,University of Shanghai for Science and Technology,Shanghai,200093; School of Science Department of Control Science and Engineering,University of Shanghai for Science and Technology,Shan Department of Mechanical and Automation Engineering,The Chinese University of Hong Kong,Shatin,NT,Ho

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 671-676

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）