Abstract
This study considers the visual stabilization problem of nonholonomic mobile robots and proposes a novel optimization stabilization method for visual servo control of nonholonomic mobile robots with monocular cameras fixed onboard. The main idea of the method is to utilize control Lyapunov functions of discrete-time nonlinear systems to design a family of explicit stabilization control laws of the visual servo error system. The parameters of the control laws can indirectly reflect the performance of the visual servo controllers. Then taking account of visibility constraints and actuator limitations, a set of optimal parameters of the control laws is calculated by offline solving a constrained finite horizon optimal control problem. Moreover, the stabilization results on the optimal visual servo controller are established based on the properties of control Lyapunov functions. Finally, some simulation experiments are used to illustrate and evaluate the performance of the visual servo control scheme proposed here.
Highlights
There have been increasing interest in visual feedback-based servo control of mobile robots that commonly focus on nonholonomic kinematic constraints, that is, nonholonomic mobile robots (NMRs)
We propose a novel optimization stabilization method for visual servo stabilization control of NMRs with monocular cameras fixed onboard
Based on the notion of control Lyapunov functions (CLF) of discrete-time nonlinear systems, a novel optimization stabilization method was proposed for visual servo control of NMRs with onboard monocular cameras
Summary
There have been increasing interest in visual feedback-based servo control of mobile robots that commonly focus on nonholonomic kinematic constraints, that is, nonholonomic mobile robots (NMRs). In the study on the visual feedback-based servo control of NMRs, there exist two basic visual servo control problems: visual servo tracking control and visual servo stabilization control of NMRs.. Due to the nonholonomic constraints of NMRs, the visual servo stabilization problem of NMRs is more difficult than the visual servo tracking problem of NMRs. Namely, from the viewpoints of control, any time-invariant continuous state feedback control law cannot stabilize a nonholonomic system asymptotically.. From the viewpoints of control, any time-invariant continuous state feedback control law cannot stabilize a nonholonomic system asymptotically.4 To this end, several efforts have been made for the visual servo stabilization control of NMRs From the viewpoints of control, any time-invariant continuous state feedback control law cannot stabilize a nonholonomic system asymptotically. To this end, several efforts have been made for the visual servo stabilization control of NMRs
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