A Platform Stabilization Algorithm Based on Feedforward Visual-Inertial Servoing

作者：Ho Quoc Phuong Nguyen; Kang Hee Jun^*; Suh Young Soo; Elle Ole Jacob

来源：International Journal of Precision Engineering and Manufacturing, 2012, 13(4): 517-526.

DOI：10.1007/s12541-012-0067-6

• Visual Servoing
• Visual-Inertial Servoing
• Inertial Sensors
• Feed-forward Control
• Mobile Harbor

This paper presents a method of improving performance of visual servoing system by integrating inertial sensors to the system. The method is applied to a roll and pitch rotated platform stabilization in high control frequency For the put pose, an inertial measurement unit is attached to the platform to provide its dynamics information. A new inertial information based feedforward control is used along with the conventional visual feedback control. Two contributions are realized: first, it helps solve the remaining limitation of static-object assumption in conventional visual servoing. Second, it helps drastically improve the response rate of the servoing system due to the utilization of a high-speed inertial measurement unit. Stability of the control system is analyzed such that the error of the system is proved to be bounded. Control algorithm was simulated using Matlab Aerospace Toolbox as well as Robotics Toolbox. Then, experiments were implemented to verify the feasibility of the proposed methodology.

• 出版日期2012-4