科研之友
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摘要
The problem of unified tracking and regulation visual servo control is addressed in this paper, for a wheeled mobile robot (WMR) equipped with a single monocular camera system. The desired trajectory or desired fixed position and orientation are defined using a prerecorded image sequence (i.e., a video) or a single image (i.e., a snapshot) of four feature points. Euclidean homographies are developed by exploiting the projective geometric relationships that exist between the feature points in the live image and the prerecorded sequence of images and the corresponding feature points in a fixed reference image. The information obtained from the Euclidean homographies is then utilized to recast the WMR kinematics in a standard WMR form. A rigorous Lyapunov-based analysis is provided to show that the proposed visual servo control approach achieves simultaneous tracking and regulation control for the on-board camera-in-hand problem.
- 出版日期2014-5
