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Adaptive Trajectory Tracking of Wheeled Mobile Robots Based on a Fish- Eye Camera
Zhaobing Kang; Wei Zou; Hongxuan Ma; Zheng Zhu
Source PublicationInternational Journal of Control, Automation and Systems
ISSN1598-6446
2019-09
Volume17Issue:2Pages:2297-2309
Abstract

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.

KeywordAdaptive Control Pose Estimation Visual Trajectory Tracking Wheeled Mobile Robots
Indexed BySCIE
Language英语
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/38555
Collection精密感知与控制研究中心_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
Corresponding AuthorWei Zou
AffiliationInstitute of Automation Chinese Academy of Sciences,University of Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Zhaobing Kang,Wei Zou,Hongxuan Ma,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 Zhaobing Kang,Wei Zou,Hongxuan Ma,&Zheng Zhu.(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 Zhaobing Kang,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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