Visual Feedback Control for Multi-Robot with Panoramic Camera: Passivity-Based Approach

研究了基于被动的全景相机多机器人视觉反馈控制。首先，提出了一种基于视觉的全景相机姿态估计与姿态控制方法。其次，设计了三维眼手视觉反馈系统中基于被动性的姿态控制，包括图像空间导航功能和避障导航功能。最后，提出了基于视觉运动观测器的手眼移动机器人双侧姿态和位置控制。给出了所提控制律的稳定性分析和所提路径规划器的收敛性分析。通过计算机仿真和实验验证了所提框架的有效性。

This study investigates passivity-based visual feedback control for multi-robot with panoramic camera. Firstly, the vision-based estimation and pose control with a panoramic camera via the passivity approach are presented. Next, passivity-based pose control via an image space navigation function and an obstacle avoidance navigation function for three dimensional eye-in-hand visual feedback systems are designed. Finally, visual motion observer-based bilateral attitude and position control for eye-in-hand mobilerobot systems is proposed. Stability analysis of the proposed control laws and convergence analysis of the proposed path planners are provided. The effectiveness of the proposed frameworks are verified through computer simulations and experiments.