Adaptive visual servo control to simultaneously stabilize image and pose error

被引：24

作者：

Gans, N. R. ^{[1
]}

Hu, G. ^{[2
]}

Shen, J. ^{[1
]}

Zhang, Y. ^{[1
]}

Dixon, W. E. ^{[3
]}

机构：

[1] Univ Texas Dallas, Dept Elect Engn, Richardson, TX 75083 USA

[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Ctr E City, EXQUISITUS, Singapore, Singapore

[3] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL USA

来源：

MECHATRONICS | 2012年 / 22卷 / 04期

关键词：

Visual servoing; Nonlinear adaptive control; FEATURES; TRACKING; OBJECTS; ROBOTS; POINT; DEPTH;

D O I：

10.1016/j.mechatronics.2011.09.008

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel, Lyapunov-based visual servo controller is presented that stabilizes both the entire image and pose error vectors simultaneously, rather than a subset of the errors. Furthermore, the controller uses adaptive depth estimation to eliminate the need to measure depth or obtain knowledge of the scene. A stability proof is presented. Simulation and experimental results compare the performance of the proposed method to PBVS, IBVS and 2.5D VS approaches. (C) 2011 Published by Elsevier Ltd.

引用

页码：410 / 422

页数：13

共 39 条

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