Knowledge Commons of Institute of Automation,CAS
Smooth-Optimal Adaptive Trajectory Tracking Using an Uncalibrated Fish-Eye Camera | |
Kang, Zhaobing; Zou, Wei; Zhu, Zheng; Ma, Hongxuan | |
发表期刊 | International Journal of Automation and Computing |
ISSN | 1476-8186 |
2020-04 | |
卷号 | 17期号:2页码:267-278 |
摘要 | This paper presents a two-stage smooth-optimal trajectory tracking strategy. Different from existing methods, the optimal trajectory tracked point can be directly determined in an uncalibrated fish-eye image. In the first stage, an adaptive trajectory tracking controller is employed to drive the tracking error and the estimated error to an arbitrarily small neighborhood of zero. Afterwards, an online smooth-optimal trajectory tracking planner is proposed, which determines the tracked point that can be used to realize smooth motion control of the mobile robot. The tracked point in the uncalibrated image can be determined by minimizing a utility function that consists of both the velocity change and the sum of cross-track errors. The performance of our planner is compared with other tracked point determining methods in experiments by tracking a circular trajectory and an irregular trajectory. Experimental results show that our method has a good performance in both tracking accuracy and motion smoothness. |
关键词 | Smooth Motion Trajectory Tracking Wheeled Mobile Robots Visual Servoing Adaptive Control |
收录类别 | EI |
语种 | 英语 |
七大方向——子方向分类 | 目标检测、跟踪与识别 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/38556 |
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 |
通讯作者 | Zou, Wei |
作者单位 | University of Chinese Academy of Sciences, Institute of Automation 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,Zhu, Zheng,et al. Smooth-Optimal Adaptive Trajectory Tracking Using an Uncalibrated Fish-Eye Camera[J]. International Journal of Automation and Computing,2020,17(2):267-278. |
APA | Kang, Zhaobing,Zou, Wei,Zhu, Zheng,&Ma, Hongxuan.(2020).Smooth-Optimal Adaptive Trajectory Tracking Using an Uncalibrated Fish-Eye Camera.International Journal of Automation and Computing,17(2),267-278. |
MLA | Kang, Zhaobing,et al."Smooth-Optimal Adaptive Trajectory Tracking Using an Uncalibrated Fish-Eye Camera".International Journal of Automation and Computing 17.2(2020):267-278. |
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