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Adaptive Trajectory Tracking of Wheeled Mobile Robots Based on a Fish- Eye Camera | |
Kang, Zhaobing; Zou, Wei; Ma, Hongxuan; Zhu, Zheng | |
发表期刊 | International Journal of Control, Automation and Systems |
ISSN | 1598-6446 |
2019-09 | |
卷号 | 17期号:2页码:2297-2309 |
摘要 | This paper presents a novel adaptive trajectory tracking control method, which can precisely control wheeled mobile robots only using an uncalibrated fish-eye camera fixed on the ceiling. Different from existing approaches, the inertial device, distorted image correction, and the trajectory expression are not required in the control system. The position and orientation of the mobile robot in the camera coordinate system are estimated by the extended POSIT (Pose from Orthography and Scaling with Iteration) algorithm in real-time. Based on estimation results, the controller considering both tracking errors and parameter estimated errors is designed by linear parameterization, where the camera intrinsic parameters are online updated. The asymptotic convergence of the tracking error and the estimated error to zero is proved by the Barbalat lemma. Circular trajectory and irregular trajectory tracking experiments have been conducted to verify the performance of our controller. |
关键词 | Adaptive Control Pose Estimation Visual Trajectory Tracking Wheeled Mobile Robots |
收录类别 | SCIE |
语种 | 英语 |
七大方向——子方向分类 | 机器人感知与决策 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/38555 |
专题 | 中科院工业视觉智能装备工程实验室_精密感知与控制 智能制造技术与系统研究中心_智能机器人 |
通讯作者 | Zou, Wei |
作者单位 | Institute of Automation Chinese Academy of Sciences,University of Chinese Academy of Sciences |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Kang, Zhaobing,Zou, Wei,Ma, Hongxuan,et al. Adaptive Trajectory Tracking of Wheeled Mobile Robots Based on a Fish- Eye Camera[J]. International Journal of Control, Automation and Systems,2019,17(2):2297-2309. |
APA | Kang, Zhaobing,Zou, Wei,Ma, Hongxuan,&Zhu, Zheng.(2019).Adaptive Trajectory Tracking of Wheeled Mobile Robots Based on a Fish- Eye Camera.International Journal of Control, Automation and Systems,17(2),2297-2309. |
MLA | Kang, Zhaobing,et al."Adaptive Trajectory Tracking of Wheeled Mobile Robots Based on a Fish- Eye Camera".International Journal of Control, Automation and Systems 17.2(2019):2297-2309. |
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