Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera
Joint Authors
Guo, Dejun
Liang, Xinwu
Chen, Weidong
Wang, Hesheng
Source
Journal of Applied Mathematics
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-08-27
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper focuses on the problem of the adaptive image-based leader-follower formation control of mobile robot with on-board omnidirectional camera.
A calibrated omnidirectional camera is fixed on the follower in any position, and a feature point representing the leader can be chosen in any position.
An adaptive image-based controller without depending on the velocity of the leader is proposed based on a filter technology.
In other words, only by relying on the projection of the feature on the image plane, can the follower track the leader and achieve the formation control.
Moreover, an observer is introduced to estimate the unknown camera extrinsic parameters and the unknown parameters of plane, where the feature point moves, relative to omnidirectional camera frame.
At last, the lyapunov method is applied to prove the uniform semiglobal practical asymptotic stability (USPAS) for the closed-loop system.
Simulation results are presented to validate the algorithm.
American Psychological Association (APA)
Guo, Dejun& Wang, Hesheng& Chen, Weidong& Liang, Xinwu. 2015. Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera. Journal of Applied Mathematics،Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1067049
Modern Language Association (MLA)
Guo, Dejun…[et al.]. Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera. Journal of Applied Mathematics No. 2015 (2015), pp.1-12.
https://search.emarefa.net/detail/BIM-1067049
American Medical Association (AMA)
Guo, Dejun& Wang, Hesheng& Chen, Weidong& Liang, Xinwu. Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera. Journal of Applied Mathematics. 2015. Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1067049
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1067049