全方位移动机器人视觉伺服系统的建模与控制  

Modeling and control of vision servoing system of omni-directional mobile robots

作　　者：林叶贵[1] 邢科新[1] 何德峰[1] 倪伟琦 LIN Yegui;XING Kexin;HE Defeng;NI Weiqi(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023)

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《高技术通讯》2023年第4期411-418,共8页Chinese High Technology Letters

基　　金：机器人技术与系统国家重点实验室开放研究(SKLRS-2021-KF-11);浙江省属高校基本科研业务费(RF-C2020003)资助项目。

摘　　要：考虑非完整性移动机器人存在的速度约束问题,本文研究了由3个主动偏心轮组成的全方位移动机器人视觉伺服系统。针对视觉伺服系统具有视觉可见性约束和执行器约束,提出了一种基于模型预测控制(MPC)策略的视觉伺服控制器。首先,基于主动偏心轮的全方位移动机器人的运动学方程和视觉伺服系统误差模型,对全方位移动机器人偏心方向轮滚动角速度和偏转角速度的视觉伺服误差系统进行建模。在此基础上,建立全方位移动机器人的视觉伺服预测控制策略,并采用原对偶神经网络在线求解凸优化问题。最后仿真实验表明,所设计的控制器不仅可以较好地处理约束条件,驱动移动机器人到达目标点,并且与传统预测控制方法相比更高效。Considering the speed constraint of non-integrated mobile robots,the omni-directional mobile robot visual servo system composed of three active eccentric wheels is studied.Aiming at the visual visibility constraints and actuator constraints of the servo system,an omni-directional mobile robot visual servo controller based on model predictive control(MPC)strategy is proposed.First of all,based on the kinematics equation and visual servo system error model of omni-directional mobile robot,the visual servo error system about the rotation velocity and deflection velocity of the eccentric wheel of the omni-directional mobile robot is obtained.On this basis,the vision servo predictive control model of omni-directional mobile robot is established,and a primal-dual neural network is used to solve the convex optimization problem online.Finally,the simulation experiment shows that the designed controller can better deal with the constraint conditions and make the mobile robot reach the target point.Compared with traditional predictive control methods,this method is more efficient.

关 键 词：全方位移动机器人 视觉伺服 原对偶神经网络 模型预测控制(MPC) 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]