A switched extend Kalman-filter for visual servoing applied in nonholonomic robot with the FOV constraint

作者：Fang Yuan; Xiaoyong Zhang; Zhiwu Huang; Yu Wentao; Wang Yabo

来源：Journal of Advanced Computational Intelligence and Intelligent Informatics, 2015, 19(2): 185-190.

DOI：10.20965/jaciii.2015.p0185

• EKF
• Extend Kalman filter
• Field of views
• FOV
• Non-holonomic robot

<jats:p>In this paper, a switched Kalmanfilter (KF) is used to predict the status of feature points leaving the field of view (FOV), which is one of the most common constraints in FOV. By using the prediction of status to compensate for the real state of feature points, nonholonomic robots conduct visual servoing tasks efficiently. Results of simulation and experiments verify the effectiveness of the proposed approach.</jats:p>

• 出版日期2015-3-1
• 单位中南大学