【摘要】 针对轮式移动机器人的单目视觉伺服镇定问题,在深度信息、机器人坐标系与摄像机坐标系间平移参量未知、摄像头光轴具有固定倾角的情况下,建立了移动机器人在摄像机坐标系下的运动模型.针对该模型提出了一种基于平面单应矩阵分解的鲁棒自适应控制方法,保证了误差的全局指数收敛.仿真和实验结果表明:所设计的控制器可以保证移动机器人指数收敛到期望的位姿,同时所设计的鲁棒自适应控制器对参数不确定性具有一定的鲁棒性.更多还原

【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 exponential convergence of the system.The performance of the controller was validated by simulation and experiment result,showing that the controller could guarantees the robot rapidly and smoothly regulate to desired pose.The controller is also robust to unknown parameter.更多还原