基于位置视觉伺服的移动机器人调节

2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA) Pub Date : 2018-06-01 DOI:10.1109/CIVEMSA.2018.8439978

Abdulrahman Al-Shanoon, A. H. Tan, H. Lang, Ying Wang

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引用次数: 5

摘要

本文设计并开发了一种基于位置的视觉伺服(PBVS)控制系统，用于差动驱动移动机器人的姿态调节。目标对象是一个快速响应代码，其模型事先为PBVS系统所知。建立了移动机器人的运动学模型，并提出了李雅普诺夫比例控制方案。控制系统在Clearpath Robotics开发的名为Husky A200的物理平台上实现。分别进行了有转向和无转向控制系统性能的试验研究。包括物理实验的结果和分析以及未来的工作建议。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Mobile Robot Regulation with Position Based Visual Servoing

In this work, a Position Based Visual Servo (PBVS) control system is designed and developed for a differential drive mobile robot to regulate its pose. The target object is a Quick Response code where its model is known to the PBVS system beforehand. The kinematics model of the mobile robot is presented along with the formulation of the Lyapunov’s proportional control scheme. The control system is implemented in a physical platform known as the Husky A200 developed by Clearpath Robotics. Two tests are conducted to study the performance of the control system with and without steering. Results and analysis from physical experiments are included along with future work recommendations.

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来源期刊

2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA)

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