Abstract
This paper focuses on the problem of the adaptive image-based leader-follower formation control of mobile robot with on-board omnidirectional camera. A calibrated omnidirectional camera is fixed on the follower in any position, and a feature point representing the leader can be chosen in any position. An adaptive image-based controller without depending on the velocity of the leader is proposed based on a filter technology. In other words, only by relying on the projection of the feature on the image plane, can the follower track the leader and achieve the formation control. Moreover, an observer is introduced to estimate the unknown camera extrinsic parameters and the unknown parameters of plane, where the feature point moves, relative to omnidirectional camera frame. At last, the lyapunov method is applied to prove the uniform semiglobal practical asymptotic stability (USPAS) for the closed-loop system. Simulation results are presented to validate the algorithm.
Highlights
The formation control problem has been the research focus for a long time
This paper focuses on the problem of the adaptive image-based leader-follower formation control of mobile robot with onboard omnidirectional camera
The relative pose is measured by the on-board laser sensor, and the unknown leader’s motion was estimated by a novel observer
Summary
The formation control problem has been the research focus for a long time. The multirobots moving in formation have better collaboration abilities than those moving dispersedly. The relative pose is measured by the on-board laser sensor, and the unknown leader’s motion was estimated by a novel observer. Many methods using the onboard omnidirectional camera have been developed to cope with leader-follower formation control. Mariottini et al [11,12,13] achieved the leader-follower formation control only using the relative bearing measured by uncalibrated omnidirectional camera. The above methods using omnidirectional cameras all need that the camera should be mounted at the rotation center of the follower and that the image plane should be parallel with the ground plane. An observer is proposed to estimate the unknown pose of the omnidirectional camera relative to the follower and the unknown coefficient parameters of the plane where the feature point moves.
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