Adaptive visual servo regulation of mobile robots
移动机器人自适应视觉伺服镇定控制

For a monocular camera-based mobile robot system, we propose an adaptive visual servo regulation controller. This controller asymptotically drives the robot to its desired position/orientation, even when the range sensors are not available and the camera extrinsic parameters are unknown. Because the translational parameters between the robot frame and the camera frame are unknown, the kinematical model of a monocular camera-based mobile robot system is developed based on a static point in the camera coordinate system. The orientation error is extracted from the image by decomposing the homography matrix, which is then incorporated with the image error signals to form the open-loop error system by a coordinate transformation. On this basis, an adaptive regulation controller is proposed by using Lyapunov techniques. The performance of the controller is validated by both the theoretical stability analysis and the experiment results, showing that the controller can perform a rapid asymptotic regulation even when the extrinsic camera parameters are unknown.