两轮移动机器人的无标定视觉控制

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI:10.1115/imece2001/dsc-24623

J. Piepmeier, P. A. Morgan

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引用次数: 0

摘要

采用带雅可比估计的准牛顿方法，利用视觉反馈对移动机器人进行控制。该方法是未经校准的，不需要相机校准或已知的机器人运动学。给定一个适当的任务配置，机器人可以被控制，使它跟随一个移动的目标。本文研究了形成可控系统的适当任务配置。

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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Uncalibrated Vision-Based Control of Two-Wheeled Mobile Robots

An quasi-Newton method with Jacobian estimation is used to control a mobile robot utilizing visual feedback. The method is uncalibrated, requiring no camera calibration or known robot kinematics. Given a proper task configuration, the robot can be controlled such that it follows a moving target. This paper investigates the appropriate task configurations that result in a controllable system.

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Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference

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