Coordinated Control Of Mobile Robots Based On Artificial Vision
Coordinated Control Of Mobile Robots Based On Artificial Vision
复制标题
基于人工视觉的移动机器人协调控制
DOI：
10.15837/ijccc.2006.2.2288
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
J. Zannatha
中科院分区：
文献类型：
--
作者：
C. Soria;R. Carelli;R. Kelly;J. Zannatha
提出了一种基于人工视觉的多机器人协调控制策略，通过测量机器人之间的相对姿态，达到并保持指定的队形。给定一个以未知速度绕未知轨迹移动的领导机器人，设计一个控制器，通过使用关于领导机器人位置的视觉信息，使机器人保持在一定距离后跟随领导者。证明了控制系统在平衡点处渐近稳定，平衡点对应于导航目标的实现。实验结果与两个机器人，领导者和追随者，包括显示基于视觉的控制系统的性能。
This work presents a control strategy for coordination of multiple robots based on artificial vision to measure the relative posture between them, in order to reach and maintain a specified formation. Given a leader robot that moves about an unknown trajectory with unknown velocity, a controller is designed to maintain the robots following the leader at a certain distance behind, by using visual information about the position of the leader robot. The control system is proved to be asymptoti- cally stable at the equilibrium point, which corresponds to the accomplishment of the navigation objective. Experimental results with two robots, a leader and a follower, are included to show the performance of the vision-based control system.