Visual servo control method for mobile robot under visual angle constraint
A mobile robot, visual servo technology, applied in the direction of non-electric variable control, position/direction control, control/regulation system, etc.
Active Publication Date: 2021-01-22
SOUTH CHINA UNIV OF TECH
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Problems solved by technology
In this case, the existing methods are often difficult to strictly guarantee that the closed-loop system can meet specific transient and steady-state performance indicators
The transient and steady-state performance issues of visual servoing systems bring more challenges to the design of visual servoing controllers
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[0076] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.
[0077] The visual servo control of the mobile robot under the restriction of the viewing angle in this embodiment includes two mobile robots in total, the first robot is the target robot, and the second robot is the robot implementing visual servoing. figure 1 is a schematic diagram of the positional relationship of each coordinate system, figure 2 is the overall structura...
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The invention discloses a visual servo control method for a mobile robot under visual angle constraint. The method comprises the following steps: constructing a kinematic model of an incomplete mobilerobot and a projection model of a pinhole camera; performing coordinate transformation on the projection model of the pinhole camera and establishing a system dynamic equation about pixel coordinatesin combination with the kinematic model of the mobile robot; constructing a servo tracking error equation about pixel coordinates, and converting the visual angle constraints of the pinhole camera into an upper and lower bound constraint problem about servo tracking errors; and based on a preset performance control method, constructing an obstacle function to ensure that a servo control system can meet preset performance indexes and view angle constraints, and using a Lyapunov design method is used to design an image-based mobile robot visual servo controller, a speed observer and an adaptiveparameter updating law. According to the invention, the controller, the observer and the parameter updating law ensure that the visual angle constraint and the performance constraint can be satisfiedin the whole control process, and the closed-loop system is stable.
Description
technical field [0001] The invention relates to the field of visual servo control of mobile robots, in particular to a distributed visual servo control method for mobile robots that considers the constraints of the viewing angle of a pinhole camera and the constraints of control performance. Background technique [0002] In recent years, the use of visual feedback to control robotic systems such as mobile robots and manipulators has become an important topic in the field of control engineering, and image-based visual servoing (IBVS) control is one of the hottest topics. The visual servo control of mobile robots has broad application prospects and can be used in many fields such as military affairs, industrial production, and intelligent transportation. [0003] Compared with the visual servo control for stationary targets, the biggest feature of visual servo control for mobile robots is that the tracking target is constantly moving, and the realization of the servo controlle...
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Login to View More IPC IPC(8): G05D1/00
CPCG05D1/0094
Inventor 戴诗陆梁健俊
Owner SOUTH CHINA UNIV OF TECH