Uncalibrated visual servoing design for competitive networked robots  

作　　者：卢翔 Liu Jingtai Yu Kaiyan Li Yan Sun Lei 

机构地区：[1]Institute of Robotics and Automatic Information System,Nankai University [2]Tianjin Key Laboratory of Intelligent Robotics,Nankai University

出　　处：《High Technology Letters》2013年第4期413-421,共9页高技术通讯（英文版）

基　　金：Supported by the National Natural Science Foundation of China(No.60905061);the National Natural Science Foundation of Tianjin(No.08JCYBJC12700)

摘　　要：In this paper,a method with an eye-in-hand configuration is developed to hit targets during visual tracking for the TLS(Tele-Light Saber) game.It is not necessary to calibrate camera parameters and predict the trajectory of the moving object.Firstly,the expression of the image Jacobian matrix for the eye-in-hand configuration is proposed,and then an update law is designed to estimate the image Jacobian online.Furthermore,a control scheme is presented and the Lyapunov method is employed to prove asymptotic convergence of image errors.No assumption for the moving objects is needed.Finally,both simulation and experimental results are shown to support the approach in this paper.In this paper,a method with an eye-in-hand configuration is developed to hit targets during visual tracking for the TLS （Tele-Light Saber） game.It is not necessary to calibrate camera parameters and predict the trajectory of the moving object.Firstly,the expression of the image Jacobian matrix for the eye-in-hand configuration is proposed,and then an update law is designed to estimate the image Jacobian online.Furthermore,a control scheme is presented and the Lyapunov method is employed to prove asymptotic convergence of image errors.No assumption for the moving objects is needed.Finally,both simulation and experimental results are shown to support the approach in this paper.

关 键 词：visual servoing uncalibrated eye-in-hand robust information filter Lyapunov method 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP242.62[自动化与计算机技术—控制科学与工程]