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Homography-Based Visual Servo Tracking Control of Wheeled Mobile Robots with Simultaneous Depth Identification

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Neural Information Processing (ICONIP 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10639))

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Abstract

In this paper, a visual servo tracking control method is developed for the wheeled mobile robot subject to nonholonomic motion constraints, while the unknown feature depth information is simultaneously identified in the visual servoing process. Firstly, a video feature points are prerecorded as the desire trajectory for the mobile robot. Secondly, Euclidean homographies are constructed by utilizing projective geometric relationships of feature points. Subsequently, trajectory tracking errors are obtained after Euclidean homographies decomposition. Then, the kinematic controller is designed for the mobile robot to achieve the visual servo trajectory tracking task. Moreover, by utilizing the concurrent learning framework, the historical and current system data is used to construct an adaptive updating mechanism for recovering the unknown feature depth. Simulation results are collected to prove the efficiency and utility of the proposed strategy.

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Acknowledgments

This work is supported in part by National Natural Science Foundation of China under Grant 61603271, and in part by the Natural Science Foundation of Tianjin under Grant 15JCYBJC47800 and Grant 16JCQNJC03800.

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Authors and Affiliations

  1. Tianjin Key Laboratory of Advanced Technology of Electrical Engineering and Energy, School of Electrical Engineering and Automation, Tianjin Polytechnic University, Tianjin, 300387, China

    Yu Qiu, Baoquan Li, Wuxi Shi & Yimei Chen

Authors
  1. Yu Qiu
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  2. Baoquan Li
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  3. Wuxi Shi
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  4. Yimei Chen
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Corresponding author

Correspondence to Baoquan Li .

Editor information

Editors and Affiliations

  1. Guangdong University of Technology, Guangzhou, China

    Derong Liu

  2. Guangdong University of Technology, Guangzhou, China

    Shengli Xie

  3. South China University of Technology, Guangzhou, China

    Yuanqing Li

  4. Institute of Automation, Chinese Academy of Sciences, Beijing, China

    Dongbin Zhao

  5. King Fahd University of Petroleum and Minerals, Dhahran, Saudi Arabia

    El-Sayed M. El-Alfy

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Qiu, Y., Li, B., Shi, W., Chen, Y. (2017). Homography-Based Visual Servo Tracking Control of Wheeled Mobile Robots with Simultaneous Depth Identification. In: Liu, D., Xie, S., Li, Y., Zhao, D., El-Alfy, ES. (eds) Neural Information Processing. ICONIP 2017. Lecture Notes in Computer Science(), vol 10639. Springer, Cham. https://doi.org/10.1007/978-3-319-70136-3_35

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  • DOI: https://doi.org/10.1007/978-3-319-70136-3_35

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70135-6

  • Online ISBN: 978-3-319-70136-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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