Visual tracking control of a mobile robot using a new model in image plane

被引：0

作者：

Tsai, CY ^{[1
]}

Song, KT ^{[1
]}

机构：

[1] Natl Chiao Tung Univ, Dept Elect & Control Engn, Hsinchu 300, Taiwan

来源：

2005 12TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS | 2005年

关键词：

visual tracking control; visual servoing; image-based robot control; autonomous robots; human-robot interaction;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a novel visual tracking model in image plane for autonomous mobile robots. Based on this control model, a single visual tracking controller is proposed for both static and moving objects in a two-dimensional plane. In this design, the mobile robot is equipped with a fixed camera for environment detection. The visual feedback is used to control the robot pose for tracking a moving object of interest. A novel state space representation of the camera-object visual interaction model fully defined in the image plane is first derived, a closed-loop stabilizing control law is then designed. The visual tracking control scheme achieves exponential convergence of the closed-loop visual tracking system through pole-placement method. Simulation results verify the effectiveness of the proposed control scheme, both in terms of tracking performance and system convergence.

引用

页码：540 / 545

页数：6

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