未校正摄像机的非完整机器人的自适应镇定  

Adaptive Stabilization of a Nonholonomic Wheeled Mobile Robot via an Uncalibrated Camera System

作　　者：蔡轩 王朝立[1] 

机构地区：[1]上海理工大学光电信息与计算机工程学院,上海200093

出　　处：《计算机仿真》2015年第4期388-393,共6页Computer Simulation

基　　金：国家自然科学基金(61374040);上海市教委科技创新项目(13ZZ115);上海市研究生创新项目(54-13-302-102);上海市重点学科的资助(S30501)

摘　　要：针对基于未校准顶置摄像机的非完整移动机器人视觉伺服镇定问题,首先从标准机器人运动学模型以及视觉空间与工作空间的转换得到视觉平面上的机器人运动学模型,而后根据视觉空间的运动学的速度误差以及视觉空间的机器人的动力学模型设计了一个自适应控制器,而且控制器具有鲁棒性,控制器中的鲁棒项函数用以抑制动力学的扰动,摄像机估计值用以估计未知的摄像机参数,动力学的惯性参数估计值用以消除动力学参数的不确定性。控制系统的稳定性以及参数估计值的有界性由李雅普诺夫定理证明。仿真结果用于说明控制律的有效性。This paper proposes a method of position/orientation stabilization for wheeled mobile robot via visual servoing in the presence of uncalibrated camera system and parametric uncertainty of mechanical dynamics. First, a kinematic model associated with camera space is obtained from standard kinematic model and a conversion between camera - space and task - space. And then an adaptive controller is designed based on velocity error of kinematics and dynamic model in camera space. Moreover, the controller is robust. The robust term of the controller is used not only to compensate for uncertain camera system and mechanical parameters but also to restrain disturbance. The stability of the control system and the boundedness of estimated parameters are proved by Lyapunov theorem. Simulation results are included to illustrate the performance of the control law.

关 键 词：非完整移动机器人 镇定 自适应控制 视觉伺服 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]