Homography-based visual servo tracking control of a wheeled mobile robot

被引：0
|
作者：
Chen, J [1 ]
Dixon, WE [1 ]
Dawson, DM [1 ]
McIntire, M [1 ]
机构：
[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA
来源：
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A visual servo tracking controller is developed in this paper for a monocular camera system mounted on an under-actuated wheeled mobile robot (WMR) subject to nonholonomic motion constraints (i.e., the camera-in-hand problem). A prerecorded image sequence (e.g., a video) of three target points is used to define a desired trajectory for the WMR. By comparing the target points from the prerecorded sequence with the corresponding target points in the live image, projective geometric relationships are exploited to construct a Euclidean homography. The information obtained by decomposing the Euclidean homography is used to develop a kinematic controller. A Lyapunov-based analysis is used to develop an adaptive update law to actively compensate for the lack of depth information required for the translation error system.
引用
收藏
页码：1814 / 1819
页数：6
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