Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition
Joint Authors
Li, Guodong
Zhou, Fengyu
Wu, Chunfu
Tang, Qingshun
Source
Journal of Control Science and Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-09-07
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
For the monocular camera-based mobile robot system, an adaptive hybrid visual servo regulation algorithm which is based on a fast homography decomposition method is proposed to drive the mobile robot to its desired position and orientation, even when object’s imaging depth and camera’s position extrinsic parameters are unknown.
Firstly, the homography’s particular properties caused by mobile robot’s 2-DOF motion are taken into account to induce a fast homography decomposition method.
Secondly, the homography matrix and the extracted orientation error, incorporated with the desired view’s single feature point, are utilized to form an error vector and its open-loop error function.
Finally, Lyapunov-based techniques are exploited to construct an adaptive regulation control law, followed by the experimental verification.
The experimental results show that the proposed fast homography decomposition method is not only simple and efficient, but also highly precise.
Meanwhile, the designed control law can well enable mobile robot position and orientation regulation despite the lack of depth information and camera’s position extrinsic parameters.
American Psychological Association (APA)
Wu, Chunfu& Li, Guodong& Tang, Qingshun& Zhou, Fengyu. 2015. Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition. Journal of Control Science and Engineering،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1067807
Modern Language Association (MLA)
Wu, Chunfu…[et al.]. Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition. Journal of Control Science and Engineering No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1067807
American Medical Association (AMA)
Wu, Chunfu& Li, Guodong& Tang, Qingshun& Zhou, Fengyu. Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition. Journal of Control Science and Engineering. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1067807
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1067807