Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system

被引：109

作者：

Dixon, WE ^{[1
]}

Dawson, DM

Zergeroglu, E

Behal, A

机构：

[1] Oak Ridge Natl Lab, Robot & Proc Syst Div, Oak Ridge, TN 37831 USA

[2] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | 2001年 / 31卷 / 03期

基金：

美国国家科学基金会;

关键词：

adaptive control; visual-servoing; wheeled mobile robot;

D O I：

10.1109/3477.931519

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers the problem of position/orientation tracking control of wheeled mobile robots via visual servoing in the presence of parametric uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertain camera and mechanical parameters and ensures global asymptotic position/orientation tracking. Simulation and experimental results are included to illustrate the performance of the control law.

引用

页码：341 / 352

页数：12

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