移动机器人速度跟踪视觉伺服控制  

Speed tracking visual servo control of mobile robot

作　　者：刘江涛 陈奕梅[1] LIU Jiang-tao, CHEN Yi-mei(School of Electrical Engineering and Automation, Tianjin Polytechnic University, Tianjin 300387, Chin)

机构地区：[1]天津工业大学电气工程与自动化学院,天津300387

出　　处：《计算机工程与设计》2018年第8期2632-2637,共6页Computer Engineering and Design

基　　金：天津市国家自然科学基金项目(15JCYBJC47800;16JCQNJC03800);国家自然科学基金项目(61603271)

摘　　要：针对移动机器人的视觉伺服镇定系统,采用二维三焦点张量视觉系统对机器人进行定位,在此基础上采用自适应控制实现对移动机器人的运动控制。针对机器人在运动过程中存在的由于期望速度与机器人实际运动速度差值过大引起的抖动问题,提出滑模速度跟踪控制器,通过实验验证该方法的可行性及整个视觉系统良好的稳定性、鲁棒性与实时性。For the visual servo stabilization system of mobile robot,the two-dimensional three focus tensor vision system was used to locate the robot.On this basis,adaptive control was used to realize the motion control of the mobile robot.For the chattering problem caused by the excessive difference between the expected speed and the actual speed of the robot in the process of motion,a sliding mode speed tracking controller was proposed.Through the experiments,the feasibility of the proposed method and the stability,good robustness and real time of the vision system were verified.

关 键 词：二维三焦点张量 自适应控制 视觉伺服 滑模跟踪 镇定控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]