华中科技大学学报（自然科学版）2016，Vol.44Issue(10)：87-92,6.DOI:10.13245/j.hust.161017
基于单目视觉的移动机器人伺服镇定控制
Monocular camera-based mobile robot visual servo regulation control
摘要
Abstract
To solve the monocular camera‐based mobile robot regulation problem ,the kinematic model in camera coordinate was proposed under the condition of unknown range information ,unknown translation parameter between robot and camera frames ,camera with certain dip angle .A robust and adaptive controller was proposed based on the assumptions above .The controller guaranteed exponen‐tial convergence of the system .The performance of the controller was validated by simulation and ex‐periment result ,showing that the controller could guarantees the robot rapidly and smoothly regulate to desired pose .T he controller is also robust to unknow n parameter .关键词
移动机器人/镇定控制/单目视觉/非完整约束/单应矩阵Key words
mobile robot/regulation control/monocular camera/nonholonomic constraint/homogra-phy matrix分类
信息技术与安全科学引用本文复制引用
刘阳,王忠立,蔡伯根,闻映红..基于单目视觉的移动机器人伺服镇定控制[J].华中科技大学学报（自然科学版）,2016,44(10):87-92,6.基金项目
国家自然科学基金资助项目（61573057）；国家科技支撑计划资助项目（2015BAF08B01）． （）
