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We present an image-based visual servoing controller enabling nonholonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. A Lyapunov-based stability analysis is carried out. The performance of the controller...
We present a visual servoing scheme enabling non-holonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. The scheme is position-based, and a Lyapunov-based stability analysis is carried out. The performance...
This paper presents an Active disturbance rejection controller (ADRC) based lateral control algorithm for tracked robots on stairs, with the heading angle estimated by the vision system fixed on the robot. It can help the robot keeping its posture in order to avoid the serious influences caused by a wrong operation. Or with some further efforts on intelligent control, the robot can also auto guided...
Armed at solving the problems appeared in researching servo control system of bomb-disposed robot at a distance, adopting Zhangpsilas image calibrating method, accomplished the both eyes stereo-identity mission. Having found the geometry solution for every manipulator joint angle, avoided finding the solution of inverse process of the kinematics. Have applied the RTW code to generate a software ,...
According to the theory of hybrid dynamic system, a new method-switching approach, is applied to robot visual servo system. Two visual servo sub-controllers are introduced in detail, homography-based controller and affine approximation controller. The system switches between the two controllers according to a switching rule. The experiment result shows that this system works well, and can realize...
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