Abstract
For a monocular vision-based wheeled mobile robot system, an image-based visual servoing control strategy is proposed. The lack of depth information and nonholonomic constraints are inherent problems of the system. In addition, the uncertain intrinsic and extrinsic camera parameters are considered which makes the visual servoing of mobile robot more challenging. With this in mind, a two-degrees-of-freedom control structure is designed to separately deal with the nonholonomic constraints and the system uncertainties. An extended state observer is constructed to estimate the uncertainties and compensate to the controller. Then a switching controller is established for the compensated system to dispose of the nonholonomic constraints. The simulation results show the good performance of the proposed scheme.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Li Z, Ying Z, Wen C (2017) Parking of nonholonomic mobile robots via switched control in the discrete time domain. In: IEEE international symposium on industrial electronics, Edinburgh, Scotland, pp 526–532
Mariottini GL, Oriolo G, Prattichizzo D (2007) Image-based visual servoing for nonholonomic mobile robots using epipolar geometry. IEEE Trans Rob 23(1):87–100
Lopez-Nicolas G, Gans NR, Bhattacharya S, Sagues C, Guerrero JJ, Hutchinson S (2010) Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints. IEEE Trans Syst Man Cybern Part B (Cybern) 40(4):1115–1127
Huang Y, Su JB (2016) Simultaneous regulation of position and orientation for nonholonomic mobile robot. In: 2016 international conference on machine learning and cybernetics (ICMLC), vol 2, pp 477–482
Li B, Fang Y, Zhang X (2014) 2D trifocal tensor based visual servo regulation of nonholonomic mobile robots. Acta Automatica Sinica 40(12):5764–5769 (in Chinese)
Ito M, Hiratsuka T, Shibata M (2010) Feature-based visual target following for a nonholonomic wheeled mobile robot with a single camera. In: IECON 2010 - 36th annual conference on IEEE industrial electronics society, pp 2721–2726
Zhang X, Fang Y, Liu X (2010) Adaptive visual servo regulation of mobile robots. Control Theory Appl 27(9):1123–1130 (in Chinese)
Zhang X, Fang Y, Li B, Wang J (2017) Visual servoing of nonholonomic mobile robots with uncalibrated camera-to-robot parameters. IEEE Trans Industr Electron 64(1):390–400
Han J (1998) Active disturbance rejection controller and its application. Control Decis 13(1):19–23 (in Chinese)
Hashimoto K, Noritsugu T (1997) Visual servoing of nonholonomic cart. In: Proceedings in IEEE international conference on robotics and automation, vol 2, pp 1719–1724
Acknowledgment
The authors gratefully acknowledge the financial support of the National Natural Science Foundation of China (NSFC) under grants 61533012 and 91748120.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Huang, Y., Su, J. (2020). Visual Stabilization of Wheeled Mobile Robots with Unknown Visual Parameters. In: Deng, Z. (eds) Proceedings of 2019 Chinese Intelligent Automation Conference. CIAC 2019. Lecture Notes in Electrical Engineering, vol 586. Springer, Singapore. https://doi.org/10.1007/978-981-32-9050-1_9
Download citation
DOI: https://doi.org/10.1007/978-981-32-9050-1_9
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-32-9049-5
Online ISBN: 978-981-32-9050-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)