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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Visual Servo Regulation of Wheeled Mobile Robots With an Uncalibrated Onboard Camera
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Visual Servo Regulation of Wheeled Mobile Robots With an Uncalibrated Onboard Camera

机译：带有未校准车载摄像头的轮式移动机器人的视觉伺服调节

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摘要

In this paper, a visual servo regulation strategy is designed for an uncalibrated camera system mounted on a wheeled mobile robot subject to nonholonomic motion constraint, which can drive the mobile robot to the target pose with exponential convergence. Unlike existing methods, the proposed approach can work well without the camera intrinsic parameters being known in advance. Specifically, a novel fundamental matrix-based algorithm is first proposed to rotate the robot to point toward the desired position, with the camera intrinsic parameters estimated simultaneously by employing the fundamental matrix and a projection homography matrix. Subsequently, by utilizing the obtained camera intrinsic parameters, a straight-line motion controller is developed to drive the robot to the desired position, with the orientation of the robot always facing the target position. Another pure rotation controller is finally adopted to correct the orientation error. The exponentially convergent properties of the visual servo errors are proven with mathematical analysis. The performance of the proposed uncalibrated visual servo regulation method is further validated by both simulation and experimental results.
机译：本文针对非完整运动约束条件下安装在轮式移动机器人上的未经校准的摄像头系统设计了视觉伺服调节策略，该策略可以将移动机器人以指数收敛的方式驱动到目标姿态。与现有方法不同，所提出的方法可以很好地工作，而无需事先知道相机的固有参数。具体而言，首先提出了一种新颖的基于基本矩阵的算法，以使机器人旋转以指向所需位置，同时通过使用基本矩阵和投影单应性矩阵来估计相机固有参数。随后，通过利用获得的相机固有参数，开发了直线运动控制器以将机器人驱动到所需位置，而机器人的方向始终面向目标位置。最后采用另一种纯旋转控制器来校正定向误差。通过数学分析证明了视觉伺服误差的指数收敛性质。仿真和实验结果进一步验证了所提出的未校准视觉伺服调节方法的性能。

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  • 来源
    《IEEE / ASME Transactions on Mechatronics》 |2016年第5期|2330-2342|共13页
  • 作者

    Baoquan Li; Yongchun Fang; Xuebo Zhang;

  • 作者单位

    School of Electrical Engineering and Automation, Tianjin Key Laboratory of Advanced Technology of Electrical Engineering and Energy, Tianjin Polytechnic University, Tianjin, China;

    Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China;

    Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Cameras; Mobile robots; Visual servoing; Visualization; Servomotors;

    机译：相机;移动机器人;视觉伺服;可视化;伺服电机;

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