Visual Stabilization of Wheeled Mobile Robots with Unknown Visual Parameters
For a monocular vision-based wheeled mobile robot system,an image-based visual servoing control strategy is proposed.The lack of depth information and nonholonomic constraints are inherent problems of the system.In addition,the uncertain intrinsic and extrinsic camera parameters are considered which makes the visual servoing of mobile robot more challenging.With this in mind,a two-degrees-of-freedom control structure is designed to separately deal with the nonholonomic constraints and the system uncertainties.An extended state observer is constructed to estimate the uncertainties and compensate to the controller.Then a switching controller is established for the compensated system to dispose of the nonholonomic constraints.The simulation results show the good performance of the proposed scheme.
Wheeled mobile robot Visual servoing Extended state observer
Yao Huang Jianbo Su
Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China
国际会议
江苏镇江
英文
79-87
2019-09-20（万方平台首次上网日期，不代表论文的发表时间）