Homography-based visual servo tracking control of a wheeled mobile robot
Homography-based visual servo tracking control of a wheeled mobile robot
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DOI：
10.1109/iros.2003.1248907
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发表时间：
2003-12
期刊：
影响因子：
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通讯作者：
Jing Chen;W. Dixon;D. Dawson;M. McIntyre
中科院分区：
文献类型：
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作者：
Jing Chen;W. Dixon;D. Dawson;M. McIntyre
在本文中开发了一个视觉伺服跟踪控制器，用于安装在不足的车轮机器人（WMR）主题的非机学运动限制（即摄像头问题）上的单眼相机系统。三个目标点的预录图像序列（例如，视频）用于定义WMR的所需轨迹。通过将预录序列的目标点与实时图像中的相应目标点进行比较，可以利用投射的几何关系来构建欧几里得均匀的同谱。通过分解欧几里得同构象获得的信息用于开发运动控制器。基于Lyapunov的分析用于制定自适应更新定律，以积极弥补翻译错误系统所需的深度信息。
A visual servo tracking controller is developed in this paper for a monocular camera system mounted on an underactuated wheeled robot (WMR) subject 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.