| 摘要: |
| This paper presents a novel scheme for visual servoing of a nonholonomic mobile robot equipped with a monocular camera
in consideration of field-of-view (FOV) constraints. In order to loosen the FOV constraints, the system states are expressed by the
homography between the current frame and the key frame so that the target is not necessarily to be always visible in the control
process. A switched visual controller is designed to deal with the nonholonomic constraints. Moreover, an iteration strategy is
used to eliminate errors caused by the parameter uncertainty. The stablity and robustness of the proposed scheme are guaranteed
by theoretical analysis. Compared to conventional schemes, the proposed approach has the following advantages: 1) a better path
in Cartesian space can be achieved owing to the loosening of FOV constraints; 2) the iteration strategy ensures the robustness
to parameter uncertainty; 3) when used in landmark-based navigation, it needs much sparser and simpler landmarks than those
localization-based approaches need. Simulation results demonstrate the effectiveness of the proposed method. |
| 关键词: Homography-based, key-frame strategy, field-of-view constraints, nonholonomic mobile robot |
| DOI： |
| Received:May 18, 2014Revised:July 14, 2015 |
| 基金项目: |
|
| Switched visual servo control of nonholonomic mobile robots with field-of-viewconstraints based on homography |
| B. Jia,S. Liu |
| (College of Control Science and Engineering, Zhejiang University) |
| Abstract: |
| This paper presents a novel scheme for visual servoing of a nonholonomic mobile robot equipped with a monocular camera
in consideration of field-of-view (FOV) constraints. In order to loosen the FOV constraints, the system states are expressed by the
homography between the current frame and the key frame so that the target is not necessarily to be always visible in the control
process. A switched visual controller is designed to deal with the nonholonomic constraints. Moreover, an iteration strategy is
used to eliminate errors caused by the parameter uncertainty. The stablity and robustness of the proposed scheme are guaranteed
by theoretical analysis. Compared to conventional schemes, the proposed approach has the following advantages: 1) a better path
in Cartesian space can be achieved owing to the loosening of FOV constraints; 2) the iteration strategy ensures the robustness
to parameter uncertainty; 3) when used in landmark-based navigation, it needs much sparser and simpler landmarks than those
localization-based approaches need. Simulation results demonstrate the effectiveness of the proposed method. |
| Key words: Homography-based, key-frame strategy, field-of-view constraints, nonholonomic mobile robot |
