Predictive Control for Visual Servo Stabilization of Nonholonomic Mobile Robots  

作　　者：CAO Zheng-Cai YIN Long-Jie FU Yi-Li LIU Tian-Long 

机构地区：[1]College of Information Science and Technology,Beijing University of Chemical Technology,Beijing 100029,China [2]Key Laboratory of Embedded System and Service Computing,Ministry of Education,Tongji University,Shanghai 201804,China [3]State Key Laboratory of Robotics and Systems,Harbin Institute of Technology,Harbin 150080,China

出　　处：《自动化学报》2013年第8期1238-1245,共8页Acta Automatica Sinica

摘　　要：活动机器人获得了的 nonholonomic 的视觉伺服稳定广泛的注意。当前，这个问题的解决方案不管多么不认为可见性限制和致动器是限制，因此设计控制器是困难的在实际申请认识到令人满意的性能。在这份报纸，为一个活动机器人的视觉伺服稳定的一个预兆的控制器被介绍。第一，利用产生速度的命令的一个运动学的预兆的稳定控制器被介绍。然后，来临以便 asymptotically 做活动机器人的实际速度到需要的，一个动态预兆的控制器被设计。建议预兆的控制器能容易处理限制。最后，几模拟被执行，并且结果说明建议控制计划是有效的解决视觉伺服稳定问题。Visual servo stabilization of nonholonomic mobile robots has gained extensive attention. However, currently, the solution of the problem does not consider both the visibility constraints and the actuator limitations, so the designed controller is difficult to realize satisfactory performance in practical application. In this paper, a predictive controller for the visual servo stabilization of a mobile robot is presented. Firstly, a kinematic predictive stabilization controller utilized to generate the command of velocity is introduced. Then, in order to make the actual velocity of the mobile robot asymptotically approach to the desired one, a dynamic predictive controller is designed. The proposed predictive controller can deal with the constraints easily. Finally, several simulations are performed, and the results illustrate that the proposed control scheme is effective to solve the visual servo stabilization problem.

关 键 词：非完整移动机器人 稳定化控制器 预测控制器 视觉伺服 生成速度 运动预测 稳定问题 控制方案 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP13[自动化与计算机技术—控制科学与工程]