The Design of Stabilization Control Law for Mobile Robot based on Global Vision

Abstract

As the wheeled mobile robot is widely used in various fields, requirements of control accuracy for wheeled mobile robot are also increasing. Vision sensors get more and more attention because they are information capacity, high efficiency, non-contact measurement. The servo control problem of robot visual has also become a research hot spot. Dividing from the number of vision sensors, visual servo system can be divided into monocular visual servo system, binocular visual servo system and multi-purpose visual servo system.