A robust vision-based controller for mobile robots navigation: application to the task sequencing problem
A robust vision-based controller for mobile robots navigation: application to the task sequencing problem
复制标题
用于移动机器人导航的基于视觉的鲁棒控制器：在任务排序问题中的应用
DOI：
10.1109/iros.2005.1545042
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
Bo Gao
中科院分区：
文献类型：
--
作者：
P. Souéres;S. Tarbouriech;Bo Gao
本文提出了一种基于图像的多准则控制器，并描述了这一结果在任务排序问题中的应用。该方法允许在目标点深度未知的情况下稳定摄像机并确定相关的稳定区域，以保证可见性的可容许视觉特征误差为界，并限制摄像机的速度和加速度。该公式基于混合多面体和范数有界的不确定性表示，允许考虑基于LMI的优化方案，以最大化与闭环系统相关的稳定区域的大小。通过这一结果，我们展示了该方法对于设计允许动态链接一系列基于传感器的任务的控制策略的兴趣。最后给出了一个任务排序问题的仿真结果。
This paper presents a multicriteria image-based controller and describes an application of this result to the task sequencing problem. The method allows to stabilize the camera and determine the associated region of stability in spite of unknown value of the target points depth, bounds on admissible visual feature errors which guarantee visibility, and limits on the camera velocity and acceleration. The proposed formulation, based on a mixed polytopic and norm-bounded representation of uncertainties, allows to consider LMI-based optimization schemes to maximize the size of the region of stability associated to the closed-loop system. Through this result we show the interest of the approach for designing control strategies that allow to link dynamically a sequence of sensor-based tasks. An application of the result to a problem of task sequencing is simulated in the last section.