Adaptive Image-based Visual Servoing of Nonholonomic Mobile Robot With On-Board Camera

被引：0
|
作者：
Jiang, Nicong [1 ]
Lv, Jixin [1 ]
Kobayashi, Yukinori [2 ]
Emaru, Takanori [2 ]
机构：
[1] Hokkaido Univ, Grad Sch Engn, Sapporo, Hokkaido, Japan
[2] Hokkaido Univ, Fac Engn, Sapporo, Hokkaido, Japan
来源：
2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) | 2015年
关键词：
TRACKING CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we mainly deal with the image-based visual servoing of nonholonomic mobile robots with on-board camera. The depth-independent interaction matrix is firstly applied and extended in our work, where normalized image coordinates are utilized to estimate unknown information coupling the orientation of mobile robot and the translational component between the feature points and the mobile robot. Then, a image-based adaptive controller is proposed which could handle with time-varying feature depth. Lyapunov theory is carried out for the stability analysis. Both simulation and experiment results are collected to investigate the feasibility of the proposed approach.
引用
收藏
页码：983 / 988
页数：6
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