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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Unified Visual Servoing Tracking and Regulation of Wheeled Mobile Robots With an Uncalibrated Camera
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Unified Visual Servoing Tracking and Regulation of Wheeled Mobile Robots With an Uncalibrated Camera

机译：带有未校准摄像头的轮式移动机器人的统一视觉伺服跟踪和调节

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摘要

In this paper, a vision-based strategy is proposed for the unified tracking and regulation control of a wheeled mobile robot (WMR) equipped with an uncalibrated monocular camera. Specifically, an online implementable method based on the projection homography technique is first proposed to estimate the partial camera intrinsic parameters. By exploiting the obtained camera intrinsic parameters, the orientation and scaled position information of the WMR is extracted from the current, the reference, and the desired images to construct the error system. Then, an adaptive continuous controller is designed to address both the trajectory tracking and regulation problems with input saturation for the WMR. The system uncertainties regarding the distance information and the camera intrinsic parameters are fully taken into consideration as well as the nonholonomic constraint. Moreover, the Lyapunov-based stability analysis is utilized to prove that the proposed controller can achieve asymptotic tracking and regulation in the presence of system uncertainties. Simulation and experimental results validate the effectiveness of the proposed strategy.
机译：本文提出了一种基于视觉的策略，用于装有未校准单眼相机的轮式移动机器人（WMR）的统一跟踪和调节控制。具体而言，首先提出一种基于投影单应性技术的在线可实施方法来估计部分相机固有参数。通过利用获得的相机固有参数，从当前图像，参考图像和所需图像中提取WMR的方向和缩放位置信息，以构建误差系统。然后，将自适应连续控制器设计为解决WMR输入饱和的轨迹跟踪和调节问题。关于距离信息和相机固有参数的系统不确定性以及非完整约束都得到了充分考虑。此外，利用基于Lyapunov的稳定性分析来证明所提出的控制器在存在系统不确定性的情况下可以实现渐近跟踪和调节。仿真和实验结果验证了该策略的有效性。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2018年第4期|1728-1739|共12页
  • 作者

    Kaixiang Zhang; Jian Chen; Yang Li; Yanyan Gao;

  • 作者单位

    State Key Laboratory of Industrial Control Technology, College of Control Science and Engineering, Zhejiang University, Hangzhou, China;

    State Key Laboratory of Industrial Control Technology, College of Control Science and Engineering, Zhejiang University, Hangzhou, China;

    State Key Laboratory of Industrial Control Technology, College of Control Science and Engineering, Zhejiang University, Hangzhou, China;

    State Key Laboratory of Industrial Control Technology, College of Control Science and Engineering, Zhejiang University, Hangzhou, China;

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

    Cameras; Trajectory tracking; Visualization; Visual servoing; Task analysis; Mobile robots;

    机译：相机;轨迹跟踪;可视化;视觉伺服;任务分析;移动机器人;

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