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Smooth-Optimal Adaptive Trajectory Tracking Using an Uncalibrated Fish-Eye Camera
Zhaobing Kang; Wei Zou; Zheng Zhu; Hongxuan Ma
Source PublicationInternational Journal of Automation and Computing
ISSN1476-8186
2020-04
Volume17Issue:2Pages:267-278
Abstract

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.

KeywordSmooth Motion Trajectory Tracking Wheeled Mobile Robots Visual Servoing Adaptive Control
Indexed ByEI
Language英语
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/38556
Collection精密感知与控制研究中心_精密感知与控制
Corresponding AuthorWei Zou
AffiliationUniversity of Chinese Academy of Sciences, Institute of Automation Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Zhaobing Kang,Wei Zou,Zheng Zhu,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 Zhaobing Kang,Wei Zou,Zheng Zhu,&Hongxuan Ma.(2020).Smooth-Optimal Adaptive Trajectory Tracking Using an Uncalibrated Fish-Eye Camera.International Journal of Automation and Computing,17(2),267-278.
MLA Zhaobing Kang,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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