Model-Free Unified Tracking and Regulation Visual Servoing of Nonholonomic Mobile Robots
In this paper,a 2-1/2-D unified tracking and regulation visual servoing strategy is proposed for a nonholonomic mobile robot system equipped with an onboard camera.Firstly,by comparing the feature points of the unmodeled target object from a reference image with those on the current image and the prerecorded desired sequence of images,a novel composite error vector is defined including both image signals and rotational angles.Subsequently,the chained-form error system dynamics is obtained after utilizing a transformation formed by a new error signal set.Then,adaptive Lyapunov-based techniques are employed to construct online estimate to compensate for constant unknown parameters,and the asymptotically convergent performance is achieved by designing a time-varying continuous controller despite the lack of object model and depth information.Simulation results are collected to investigate the feasibility of the proposed approach.
Visual Servoing Nonholonomic Mobile Robots Unified Tracking and Regulation Lyapunov Techniques
LI Baoquan FANG Yongchun HU Guoqiang ZHANG Xuebo
Institute of Robotics and Automatic Information System(IRAIS),Nankai University,Tianjin 300071,P.R.C School of Electrical and Electronics Engineering,Nanyang Technological University 639798,Singapore
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8427-8432
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）