Abstract
This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment. First, an adaptive visual servoing controller is proposed based on the uncalibrated kinematic model due to the complex operation environment. Then, an adaptive controller is derived to provide a solution of uncertain dynamic control for a wheeled mobile robot subject to parametric uncertainties. Furthermore, the proposed controllers can be applied to a more general situation where the parallelism requirement between the image plane and operation plane is no more needed. The overparameterization of regressor matrices is avoided by exploring the structure of the camera-robot system, and thus, the computational complexity of the controller can be simplified. The Lyapunov method is employed to testify the stability of a closed-loop system. Finally, simulation results are presented to demonstrate the performance of the suggested control.
Highlights
In recent decades, the wheeled mobile robots (WMRs) have received increasing attention due to their promising applications in transportation, health care, security, and so on, which promotes the research of high-accuracy tracking control and stability analysis of the WMRs [1,2,3,4]
Given a continuous desired trajectory yd, y_d, y€d ∈ R2×1 on the image plane, this paper aims to solve the following problems: P1L: assuming that the WMR responds fast enough, design an adaptive visual servoing kinematic controller (AVSKC) τK such that the precise trajectory tracking performance can be obtained in the absence of calibrated camera model; that is, lim t⟶∞
We focus on the adaptive visual servoing kinematic control scheme for wheeled mobile robot with uncalibrated camera model, where the projection plane of camera does not need to be parallel to the operation plane during the execution of the mission, and the dynamic control will be exhibited
Summary
The wheeled mobile robots (WMRs) have received increasing attention due to their promising applications in transportation, health care, security, and so on, which promotes the research of high-accuracy tracking control and stability analysis of the WMRs [1,2,3,4]. Given a continuous desired trajectory yd, y_d, y€d ∈ R2×1 on the image plane, this paper aims to solve the following problems: P1L: assuming that the WMR responds fast enough, design an adaptive visual servoing kinematic controller (AVSKC) τK such that the precise trajectory tracking performance can be obtained in the absence of calibrated camera model; that is, lim t⟶∞. Compared with the recent work on handing uncertain parameters for WMR [19, 33, 34, 36], where only kinematic uncertainties are addressed, this paper extends the uncalibrated visual servoing control to a dynamic control loop in the presence of parameter uncertainties and varying depth It can be seen in AVSDC (46) that both the reference image errors ry and kinematic control errors rτ, which contain velocity errors Δy_ and y_r, are concurrently employed, giving rise to asymptotical convergence of both Δy_ and Δy by comparing with the AVSKC (24). The AVSDC (46), to some extent, can be potentially regarded as containing the kinematic control by designing the kinematic auxiliary variable τr
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